dynacom::ContactPoint Class Reference

#include <dynacom/contact6d.hpp>

Public Member Functions
	ContactPoint ()
	ContactPoint (const ContactPointSettings &settings)
void	initialize (const ContactPointSettings &settings)
void	setMu (const double &mu)
void	setForceWeights (const Eigen::Vector3d &force_weights)
void	updateNewtonEuler (const Eigen::Vector3d &CoM, const pinocchio::SE3 &oMf)
void	setFrameID (const size_t frameID)
void	applyForce (const Eigen::Matrix< double, 3, 1 > &force)
const ContactPointSettings &	getSettings ()
const Eigen::Matrix< double, 6, 3 >	toWorldForces ()
const Eigen::Matrix< double, 6, 3 >	toCoMForces ()
size_t	uni_rows () const
size_t	fri_rows () const
size_t	cols () const
size_t	getFrameID () const
const Eigen::Matrix< double, 1, 3 > &	uni_A ()
const Eigen::Matrix< double, 1, 1 > &	uni_b ()
const Eigen::Matrix< double, 4, 3 > &	fri_A ()
const Eigen::Matrix< double, 4, 1 > &	fri_b ()
const Eigen::Matrix< double, 3, 1 > &	reg_A ()
const Eigen::Matrix< double, 3, 1 > &	reg_b ()
const Eigen::Matrix< double, 6, 3 > &	NE_A ()
const Eigen::Matrix< double, 3, 1 > &	appliedForce ()

Constructor & Destructor Documentation

ContactPoint() [1/2]

dynacom::ContactPoint::ContactPoint

(

)

ContactPoint() [2/2]

dynacom::ContactPoint::ContactPoint

(

const ContactPointSettings &

settings

)

Member Function Documentation

appliedForce()

const Eigen::Matrix<double, 3, 1>& dynacom::ContactPoint::appliedForce ( )

inline

applyForce()

void dynacom::ContactPoint::applyForce ( const Eigen::Matrix< double, 3, 1 > &  force )

inline

cols()

size_t dynacom::ContactPoint::cols ( ) const

inline

fri_A()

const Eigen::Matrix<double, 4, 3>& dynacom::ContactPoint::fri_A ( )

inline

fri_b()

const Eigen::Matrix<double, 4, 1>& dynacom::ContactPoint::fri_b ( )

inline

fri_rows()

size_t dynacom::ContactPoint::fri_rows ( ) const

inline

getFrameID()

size_t dynacom::ContactPoint::getFrameID ( ) const

inline

getSettings()

const ContactPointSettings& dynacom::ContactPoint::getSettings ( )

inline

initialize()

void dynacom::ContactPoint::initialize

(

const ContactPointSettings &

settings

)

NE_A()

const Eigen::Matrix<double, 6, 3>& dynacom::ContactPoint::NE_A ( )

inline

reg_A()

const Eigen::Matrix<double, 3, 1>& dynacom::ContactPoint::reg_A ( )

inline

reg_b()

const Eigen::Matrix<double, 3, 1>& dynacom::ContactPoint::reg_b ( )

inline

setForceWeights()

void dynacom::ContactPoint::setForceWeights

(

const Eigen::Vector3d &

force_weights

)

setFrameID()

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

inline

setMu()

void dynacom::ContactPoint::setMu

(

const double &

mu

)

toCoMForces()

const Eigen::Matrix<double, 6, 3> dynacom::ContactPoint::toCoMForces ( )

inline

toWorldForces()

const Eigen::Matrix<double, 6, 3> dynacom::ContactPoint::toWorldForces ( )

inline

uni_A()

const Eigen::Matrix<double, 1, 3>& dynacom::ContactPoint::uni_A ( )

inline

uni_b()

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

inline

uni_rows()

size_t dynacom::ContactPoint::uni_rows ( ) const

inline

updateNewtonEuler()

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

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

• include/dynacom/contact6d.hpp