#include <hpp/constraints/convex-shape-contact.hh>

Inheritance diagram for hpp::constraints::ConvexShapeContactComplement:

Collaboration diagram for hpp::constraints::ConvexShapeContactComplement:

Public Member Functions
void	computeRelativePoseRightHandSide (LiegroupElementConstRef rhs, std::size_t &ifloor, std::size_t &iobject, LiegroupElementRef relativePoseRhs) const

std::pair< JointConstPtr_t, JointConstPtr_t >	dependsOnRelPoseBetween (DeviceConstPtr_t) const

Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual	~DifferentiableFunction ()

LiegroupElement	operator() (vectorIn_t argument) const

void	value (LiegroupElementRef result, vectorIn_t argument) const

void	jacobian (matrixOut_t jacobian, vectorIn_t argument) const

const ArrayXb &	activeParameters () const

const ArrayXb &	activeDerivativeParameters () const

size_type	inputSize () const
	Get dimension of input vector.

size_type	inputDerivativeSize () const

LiegroupSpacePtr_t	outputSpace () const
	Get output space.

size_type	outputSize () const
	Get dimension of output vector.

size_type	outputDerivativeSize () const
	Get dimension of output derivative vector.

const std::string &	name () const
	Get function name.

virtual std::ostream &	print (std::ostream &o) const
	Display object in a stream.

std::string	context () const

void	context (const std::string &c)

void	finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const

void	finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const

bool	operator== (DifferentiableFunction const &other) const

bool	operator!= (DifferentiableFunction const &b) const

Static Public Member Functions
static std::pair< ConvexShapeContactPtr_t, ConvexShapeContactComplementPtr_t >	createPair (const std::string &name, DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces)

Protected Member Functions
	ConvexShapeContactComplement (const std::string &name, DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces)

bool	isEqual (const DifferentiableFunction &other) const

Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())
	Concrete class constructor should call this constructor.

	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
	Concrete class constructor should call this constructor.

virtual void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0
	User implementation of function evaluation.

virtual void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0

	DifferentiableFunction ()

Friends
class	ConvexShapeContactHold

Additional Inherited Members
Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type	inputSize_
	Dimension of input vector.

size_type	inputDerivativeSize_
	Dimension of input derivative.

LiegroupSpacePtr_t	outputSpace_
	Dimension of output vector.

ArrayXb	activeParameters_

ArrayXb	activeDerivativeParameters_

Detailed Description

Complement to full transformation constraint of ConvexShapeContact

The value returned by this class is:

| Contact type | Inside | Outside | | -----------— | -----— | ----— | | ConvexShapeContact::POINT_ON_PLANE (Unsupported) | \((y,z,rx)\) | \((0,0,rx)\) | | ConvexShapeContact::LINE_ON_PLANE (Unsupported) | \((y,z,rx)\) | \((0,0,rx)\) | | ConvexShapeContact::PLANE_ON_PLANE | \((y+2jM,z+2iM,rx)\) | \((2jM,2iM,rx)\) |

where

\(M\) is an upper bound on the radius of all floor polygons,
\(i\) and \(j\) are the indices of object and floor contact surfaces that minimize
\begin{equation} d(o_i,f_j) \end{equation}

See also: ConvexShapeContact

Constructor & Destructor Documentation

◆ ConvexShapeContactComplement()

hpp::constraints::ConvexShapeContactComplement::ConvexShapeContactComplement	(	const std::string &	name,
		DevicePtr_t	robot,
		const JointAndShapes_t &	floorSurfaces,
		const JointAndShapes_t &	objectSurfaces
	)

protected

Constructor

Parameters

name	name of the sibling ConvexShapeContact constraint, "/complement" is added to the name of this constraint
robot	robot that holds the contact surface
floorSurfaces,objectSurfaces	set of plane polygonal contact surfaces.

Member Function Documentation

◆ computeRelativePoseRightHandSide()

void hpp::constraints::ConvexShapeContactComplement::computeRelativePoseRightHandSide	(	LiegroupElementConstRef	rhs,
		std::size_t &	ifloor,
		std::size_t &	iobject,
		LiegroupElementRef	relativePoseRhs
	)		const

Compute parameters and right hand side of relative pose

Parameters

rhs	right hand side of this constraint,

Return values

ifloor,iobject	indices of floor and object contact surface,
relativePoseRhs	right hand side (implicit representation) of the relative pose constraint corresponding to contact of surfaces ifloor with iobject.

◆ createPair()

static std::pair< ConvexShapeContactPtr_t, ConvexShapeContactComplementPtr_t > hpp::constraints::ConvexShapeContactComplement::createPair	(	const std::string &	name,
		DevicePtr_t	robot,
		const JointAndShapes_t &	floorSurfaces,
		const JointAndShapes_t &	objectSurfaces
	)

static

Create a pair of constraints

Parameters

name	name of the sibling ConvexShapeContact constraint, "/complement" is added to the name of this constraint
robot	robot that holds the contact surface
floorSurfaces,objectSurfaces	set of plane polygonal contact surfaces.

◆ dependsOnRelPoseBetween()

std::pair< JointConstPtr_t, JointConstPtr_t > hpp::constraints::ConvexShapeContactComplement::dependsOnRelPoseBetween ( DeviceConstPtr_t ) const

inlinevirtual

Return pair of joints the relative pose between which modifies the function value if any

Currently only supports the case when all the joints for floors are the same and all the joints for objects involved are the same

Returns: pair of joints whose relative pose determines the value of the contact function, arranged in order of increasing joint index, or a pair of empty shared pointers.

Reimplemented from hpp::constraints::DifferentiableFunction.

◆ isEqual()

bool hpp::constraints::ConvexShapeContactComplement::isEqual ( const DifferentiableFunction & other ) const

protectedvirtual

Reimplemented from hpp::constraints::DifferentiableFunction.

Friends And Related Symbol Documentation

◆ ConvexShapeContactHold

friend class ConvexShapeContactHold

friend

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

include/hpp/constraints/convex-shape-contact.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ConvexShapeContactComplement()

Member Function Documentation

◆ computeRelativePoseRightHandSide()

◆ createPair()

◆ dependsOnRelPoseBetween()

◆ isEqual()

Friends And Related Symbol Documentation

◆ ConvexShapeContactHold