18 #ifndef __invdyn_contact_6d_hpp__ 19 #define __invdyn_contact_6d_hpp__ 21 #include "tsid/deprecated.hh" 34 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
49 const std::string & frameName,
50 ConstRefMatrix contactPoints,
51 ConstRefVector contactNormal,
52 const double frictionCoefficient,
53 const double minNormalForce,
54 const double maxNormalForce);
58 const std::string & frameName,
59 ConstRefMatrix contactPoints,
60 ConstRefVector contactNormal,
61 const double frictionCoefficient,
62 const double minNormalForce,
63 const double maxNormalForce,
64 const double forceRegWeight);
67 virtual unsigned int n_motion()
const;
70 virtual unsigned int n_force()
const;
99 const Vector &
Kp()
const;
100 const Vector &
Kd()
const;
101 void Kp(ConstRefVector
Kp);
102 void Kd(ConstRefVector
Kp);
138 #endif // ifndef __invdyn_contact_6d_hpp__ Definition: constraint-equality.hpp:28
const Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
pinocchio::SE3 SE3
Definition: trajectory-base.hpp:34
Eigen::Matrix< Scalar, 3, Eigen::Dynamic > Matrix3x
Definition: fwd.hpp:44
Definition: task-se3-equality.hpp:33
Eigen::Matrix< Scalar, 3, 1 > Vector3
Definition: fwd.hpp:42
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
Definition: constraint-inequality.hpp:28
Eigen::Matrix< Scalar, 6, 1 > Vector6
Definition: fwd.hpp:43
Definition: constraint-bound.hpp:26