dynacom::Contact6D Class Reference

#include <dynacom/contact6d.hpp>

Public Member Functions
	Contact6D ()
	Contact6D (const Contact6DSettings &settings)
void	initialize (const Contact6DSettings &settings)
void	setMu (const double &mu)
void	setGu (const double &gu)
void	setForceWeights (const Eigen::Vector3d &force_weights)
void	setTorqueWeights (const Eigen::Vector3d &torque_weights)
void	setSurfaceHalfWidth (const double &half_width)
void	setSurfaceHalfLength (const double &half_length)
void	updateNewtonEuler (const Eigen::Vector3d &CoM, const pinocchio::SE3 &oMf)
void	setFrameID (const size_t frameID)
void	applyForce (const Eigen::Matrix< double, 6, 1 > &force)
void	setPose (pinocchio::SE3 &pose)
void	deactivate ()
const Contact6DSettings &	getSettings ()
const Eigen::Matrix< double, 6, 6 >	toWorldForces ()
const Eigen::Matrix< double, 6, 6 >	toCoMForces ()
size_t	uni_rows () const
size_t	fri_rows () const
size_t	cols () const
size_t	getFrameID () const
const pinocchio::SE3 &	getPose () const
const Eigen::Matrix< double, 5, 6 > &	uni_A ()
const Eigen::Matrix< double, 5, 1 > &	uni_b ()
const Eigen::Matrix< double, 6, 6 > &	fri_A ()
const Eigen::Matrix< double, 6, 1 > &	fri_b ()
const Eigen::Matrix< double, 6, 1 > &	reg_A ()
const Eigen::Matrix< double, 6, 1 > &	reg_b ()
const Eigen::Matrix< double, 6, 6 > &	NE_A ()
const Eigen::Matrix< double, 6, 1 > &	appliedForce ()

Constructor & Destructor Documentation

Contact6D() [1/2]

dynacom::Contact6D::Contact6D

(

)

Contact6D() [2/2]

dynacom::Contact6D::Contact6D

(

const Contact6DSettings &

settings

)

Member Function Documentation

appliedForce()

const Eigen::Matrix<double, 6, 1>& dynacom::Contact6D::appliedForce ( )

inline

applyForce()

void dynacom::Contact6D::applyForce ( const Eigen::Matrix< double, 6, 1 > &  force )

inline

cols()

size_t dynacom::Contact6D::cols ( ) const

inline

deactivate()

void dynacom::Contact6D::deactivate ( )

inline

fri_A()

const Eigen::Matrix<double, 6, 6>& dynacom::Contact6D::fri_A ( )

inline

fri_b()

const Eigen::Matrix<double, 6, 1>& dynacom::Contact6D::fri_b ( )

inline

fri_rows()

size_t dynacom::Contact6D::fri_rows ( ) const

inline

getFrameID()

size_t dynacom::Contact6D::getFrameID ( ) const

inline

getPose()

const pinocchio::SE3& dynacom::Contact6D::getPose ( ) const

inline

getSettings()

const Contact6DSettings& dynacom::Contact6D::getSettings ( )

inline

initialize()

void dynacom::Contact6D::initialize

(

const Contact6DSettings &

settings

)

NE_A()

const Eigen::Matrix<double, 6, 6>& dynacom::Contact6D::NE_A ( )

inline

reg_A()

const Eigen::Matrix<double, 6, 1>& dynacom::Contact6D::reg_A ( )

inline

reg_b()

const Eigen::Matrix<double, 6, 1>& dynacom::Contact6D::reg_b ( )

inline

setForceWeights()

void dynacom::Contact6D::setForceWeights

(

const Eigen::Vector3d &

force_weights

)

setFrameID()

void dynacom::Contact6D::setFrameID ( const size_t  frameID )

inline

setGu()

void dynacom::Contact6D::setGu

(

const double &

gu

)

setMu()

void dynacom::Contact6D::setMu

(

const double &

mu

)

setPose()

void dynacom::Contact6D::setPose ( pinocchio::SE3 &  pose )

inline

setSurfaceHalfLength()

void dynacom::Contact6D::setSurfaceHalfLength

(

const double &

half_length

)

setSurfaceHalfWidth()

void dynacom::Contact6D::setSurfaceHalfWidth

(

const double &

half_width

)

setTorqueWeights()

void dynacom::Contact6D::setTorqueWeights

(

const Eigen::Vector3d &

torque_weights

)

toCoMForces()

const Eigen::Matrix<double, 6, 6> dynacom::Contact6D::toCoMForces ( )

inline

toWorldForces()

const Eigen::Matrix<double, 6, 6> dynacom::Contact6D::toWorldForces ( )

inline

uni_A()

const Eigen::Matrix<double, 5, 6>& dynacom::Contact6D::uni_A ( )

inline

uni_b()

const Eigen::Matrix<double, 5, 1>& dynacom::Contact6D::uni_b ( )

inline

uni_rows()

size_t dynacom::Contact6D::uni_rows ( ) const

inline

updateNewtonEuler()

void dynacom::Contact6D::updateNewtonEuler	(	const Eigen::Vector3d &	CoM,
		const pinocchio::SE3 &	oMf
	)

Assuming that the orientation of the world frame is the identity.

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

• include/dynacom/contact6d.hpp
• src/contac6d.cpp