#include <tsid/contacts/contact-6d.hpp>

Inheritance diagram for tsid::contacts::Contact6d:

Collaboration diagram for tsid::contacts::Contact6d:

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Public Types
typedef math::ConstRefVector	ConstRefVector

typedef math::Matrix3x	Matrix3x

typedef math::Vector6	Vector6

typedef math::Vector3	Vector3

typedef math::Vector	Vector

typedef tasks::TaskSE3Equality	TaskSE3Equality

typedef math::ConstraintInequality	ConstraintInequality

typedef math::ConstraintEquality	ConstraintEquality

typedef pinocchio::SE3	SE3

Public Types inherited from tsid::contacts::ContactBase
typedef math::ConstraintInequality	ConstraintInequality

typedef math::ConstraintEquality	ConstraintEquality

typedef math::ConstRefVector	ConstRefVector

typedef math::Matrix	Matrix

typedef math::Matrix3x	Matrix3x

typedef tasks::TaskSE3Equality	TaskSE3Equality

typedef pinocchio::Data	Data

typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	Contact6d (const std::string &name, RobotWrapper &robot, const std::string &frameName, ConstRefMatrix contactPoints, ConstRefVector contactNormal, const double frictionCoefficient, const double minNormalForce, const double maxNormalForce)

TSID_DEPRECATED	Contact6d (const std::string &name, RobotWrapper &robot, const std::string &frameName, ConstRefMatrix contactPoints, ConstRefVector contactNormal, const double frictionCoefficient, const double minNormalForce, const double maxNormalForce, const double forceRegWeight)

virtual unsigned int	n_motion () const
	Return the number of motion constraints. More...

virtual unsigned int	n_force () const
	Return the number of force variables. More...

virtual const ConstraintBase &	computeMotionTask (const double t, ConstRefVector q, ConstRefVector v, Data &data)

virtual const ConstraintInequality &	computeForceTask (const double t, ConstRefVector q, ConstRefVector v, const Data &data)

virtual const Matrix &	getForceGeneratorMatrix ()

virtual const ConstraintEquality &	computeForceRegularizationTask (const double t, ConstRefVector q, ConstRefVector v, const Data &data)

const TaskSE3Equality &	getMotionTask () const

const ConstraintBase &	getMotionConstraint () const

const ConstraintInequality &	getForceConstraint () const

const ConstraintEquality &	getForceRegularizationTask () const

double	getNormalForce (ConstRefVector f) const

double	getMinNormalForce () const

double	getMaxNormalForce () const

const Matrix3x &	getContactPoints () const

const Vector &	Kp () const

const Vector &	Kd () const

void	Kp (ConstRefVector Kp)

void	Kd (ConstRefVector Kp)

bool	setContactPoints (ConstRefMatrix contactPoints)

bool	setContactNormal (ConstRefVector contactNormal)

bool	setFrictionCoefficient (const double frictionCoefficient)

bool	setMinNormalForce (const double minNormalForce)

bool	setMaxNormalForce (const double maxNormalForce)

void	setReference (const SE3 &ref)

void	setForceReference (ConstRefVector &f_ref)

void	setRegularizationTaskWeightVector (ConstRefVector &w)

Public Member Functions inherited from tsid::contacts::ContactBase
	ContactBase (const std::string &name, RobotWrapper &robot)

const std::string &	name () const

void	name (const std::string &name)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstRefMatrix	ConstRefMatrix

Public Attributes inherited from tsid::contacts::ContactBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase	ConstraintBase

Protected Member Functions
void	updateForceInequalityConstraints ()

void	updateForceRegularizationTask ()

void	updateForceGeneratorMatrix ()

Protected Attributes
TaskSE3Equality	m_motionTask

ConstraintInequality	m_forceInequality

ConstraintEquality	m_forceRegTask

Matrix3x	m_contactPoints

Vector3	m_contactNormal

Vector6	m_fRef

Vector6	m_weightForceRegTask

double	m_mu

double	m_fMin

double	m_fMax

Matrix	m_forceGenMat

Protected Attributes inherited from tsid::contacts::ContactBase
std::string	m_name

RobotWrapper &	m_robot
	Reference on the robot model. More...

Member Typedef Documentation

◆ ConstraintEquality

typedef math::ConstraintEquality tsid::contacts::Contact6d::ConstraintEquality

◆ ConstraintInequality

typedef math::ConstraintInequality tsid::contacts::Contact6d::ConstraintInequality

◆ ConstRefVector

typedef math::ConstRefVector tsid::contacts::Contact6d::ConstRefVector

◆ Matrix3x

typedef math::Matrix3x tsid::contacts::Contact6d::Matrix3x

◆ SE3

typedef pinocchio::SE3 tsid::contacts::Contact6d::SE3

◆ TaskSE3Equality

typedef tasks::TaskSE3Equality tsid::contacts::Contact6d::TaskSE3Equality

◆ Vector

typedef math::Vector tsid::contacts::Contact6d::Vector

◆ Vector3

typedef math::Vector3 tsid::contacts::Contact6d::Vector3

◆ Vector6

typedef math::Vector6 tsid::contacts::Contact6d::Vector6

Constructor & Destructor Documentation

◆ Contact6d() [1/2]

Contact6d::Contact6d	(	const std::string &	name,
		RobotWrapper &	robot,
		const std::string &	frameName,
		ConstRefMatrix	contactPoints,
		ConstRefVector	contactNormal,
		const double	frictionCoefficient,
		const double	minNormalForce,
		const double	maxNormalForce
	)

◆ Contact6d() [2/2]

Contact6d::Contact6d	(	const std::string &	name,
		RobotWrapper &	robot,
		const std::string &	frameName,
		ConstRefMatrix	contactPoints,
		ConstRefVector	contactNormal,
		const double	frictionCoefficient,
		const double	minNormalForce,
		const double	maxNormalForce,
		const double	forceRegWeight
	)

Member Function Documentation

◆ computeForceRegularizationTask()

const ConstraintEquality & Contact6d::computeForceRegularizationTask	(	const double	t,
		ConstRefVector	q,
		ConstRefVector	v,
		const Data &	data
	)

virtual

Implements tsid::contacts::ContactBase.

◆ computeForceTask()

const ConstraintInequality & Contact6d::computeForceTask	(	const double	t,
		ConstRefVector	q,
		ConstRefVector	v,
		const Data &	data
	)

virtual

Implements tsid::contacts::ContactBase.

◆ computeMotionTask()

const ConstraintBase & Contact6d::computeMotionTask	(	const double	t,
		ConstRefVector	q,
		ConstRefVector	v,
		Data &	data
	)

virtual

Implements tsid::contacts::ContactBase.

◆ getContactPoints()

const Matrix3x & Contact6d::getContactPoints ( ) const

virtual

Implements tsid::contacts::ContactBase.

◆ getForceConstraint()

const ConstraintInequality & Contact6d::getForceConstraint ( ) const

virtual

Implements tsid::contacts::ContactBase.

◆ getForceGeneratorMatrix()

const Matrix & Contact6d::getForceGeneratorMatrix ( )

virtual

Implements tsid::contacts::ContactBase.

◆ getForceRegularizationTask()

const ConstraintEquality & Contact6d::getForceRegularizationTask ( ) const

virtual

Implements tsid::contacts::ContactBase.

◆ getMaxNormalForce()

double Contact6d::getMaxNormalForce ( ) const

virtual

Implements tsid::contacts::ContactBase.

◆ getMinNormalForce()

double Contact6d::getMinNormalForce ( ) const

virtual

Implements tsid::contacts::ContactBase.

◆ getMotionConstraint()

const ConstraintBase & Contact6d::getMotionConstraint ( ) const

virtual

Implements tsid::contacts::ContactBase.

◆ getMotionTask()

const TaskSE3Equality & Contact6d::getMotionTask ( ) const

virtual

Implements tsid::contacts::ContactBase.

◆ getNormalForce()

double Contact6d::getNormalForce ( ConstRefVector f ) const

virtual

Implements tsid::contacts::ContactBase.

◆ Kd() [1/2]

const Vector & Contact6d::Kd ( ) const

◆ Kd() [2/2]

void Contact6d::Kd ( ConstRefVector Kp )

◆ Kp() [1/2]

const Vector & Contact6d::Kp ( ) const

◆ Kp() [2/2]

void Contact6d::Kp ( ConstRefVector Kp )

◆ n_force()

unsigned int Contact6d::n_force ( ) const

virtual

Return the number of force variables.

Implements tsid::contacts::ContactBase.

◆ n_motion()

unsigned int Contact6d::n_motion ( ) const

virtual

Return the number of motion constraints.

Implements tsid::contacts::ContactBase.

◆ setContactNormal()

bool Contact6d::setContactNormal ( ConstRefVector contactNormal )

◆ setContactPoints()

bool Contact6d::setContactPoints ( ConstRefMatrix contactPoints )

◆ setForceReference()

void Contact6d::setForceReference ( ConstRefVector & f_ref )

◆ setFrictionCoefficient()

bool Contact6d::setFrictionCoefficient ( const double frictionCoefficient )

◆ setMaxNormalForce()

bool Contact6d::setMaxNormalForce ( const double maxNormalForce )

virtual

Implements tsid::contacts::ContactBase.

◆ setMinNormalForce()

bool Contact6d::setMinNormalForce ( const double minNormalForce )

virtual

Implements tsid::contacts::ContactBase.

◆ setReference()

void Contact6d::setReference ( const SE3 & ref )

◆ setRegularizationTaskWeightVector()

void Contact6d::setRegularizationTaskWeightVector ( ConstRefVector & w )

◆ updateForceGeneratorMatrix()

void Contact6d::updateForceGeneratorMatrix ( )

protected

◆ updateForceInequalityConstraints()

void Contact6d::updateForceInequalityConstraints ( )

protected

◆ updateForceRegularizationTask()

void Contact6d::updateForceRegularizationTask ( )

protected

Member Data Documentation

◆ ConstRefMatrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstRefMatrix tsid::contacts::Contact6d::ConstRefMatrix

◆ m_contactNormal

Vector3 tsid::contacts::Contact6d::m_contactNormal

protected

◆ m_contactPoints

Matrix3x tsid::contacts::Contact6d::m_contactPoints

protected

◆ m_fMax

double tsid::contacts::Contact6d::m_fMax

protected

◆ m_fMin

double tsid::contacts::Contact6d::m_fMin

protected

◆ m_forceGenMat

Matrix tsid::contacts::Contact6d::m_forceGenMat

protected

◆ m_forceInequality

ConstraintInequality tsid::contacts::Contact6d::m_forceInequality

protected

◆ m_forceRegTask

ConstraintEquality tsid::contacts::Contact6d::m_forceRegTask

protected

◆ m_fRef

Vector6 tsid::contacts::Contact6d::m_fRef

protected

◆ m_motionTask

TaskSE3Equality tsid::contacts::Contact6d::m_motionTask

protected

◆ m_mu

double tsid::contacts::Contact6d::m_mu

protected

◆ m_weightForceRegTask

Vector6 tsid::contacts::Contact6d::m_weightForceRegTask

protected

The documentation for this class was generated from the following files:

include/tsid/contacts/contact-6d.hpp
src/contacts/contact-6d.cpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ ConstraintEquality

◆ ConstraintInequality

◆ ConstRefVector

◆ Matrix3x

◆ SE3

◆ TaskSE3Equality

◆ Vector

◆ Vector3

◆ Vector6

Constructor & Destructor Documentation

◆ Contact6d() [1/2]

◆ Contact6d() [2/2]

Member Function Documentation

◆ computeForceRegularizationTask()

◆ computeForceTask()

◆ computeMotionTask()

◆ getContactPoints()

◆ getForceConstraint()

◆ getForceGeneratorMatrix()

◆ getForceRegularizationTask()

◆ getMaxNormalForce()

◆ getMinNormalForce()

◆ getMotionConstraint()

◆ getMotionTask()

◆ getNormalForce()

◆ Kd() [1/2]

◆ Kd() [2/2]

◆ Kp() [1/2]

◆ Kp() [2/2]

◆ n_force()

◆ n_motion()

◆ setContactNormal()

◆ setContactPoints()

◆ setForceReference()

◆ setFrictionCoefficient()

◆ setMaxNormalForce()

◆ setMinNormalForce()

◆ setReference()

◆ setRegularizationTaskWeightVector()

◆ updateForceGeneratorMatrix()

◆ updateForceInequalityConstraints()

◆ updateForceRegularizationTask()

Member Data Documentation

◆ ConstRefMatrix

◆ m_contactNormal

◆ m_contactPoints

◆ m_fMax

◆ m_fMin

◆ m_forceGenMat

◆ m_forceInequality

◆ m_forceRegTask

◆ m_fRef

◆ m_motionTask

◆ m_mu

◆ m_weightForceRegTask