CoPSupportTpl< _Scalar > Class Template Reference

This class encapsulates a center of pressure support of a 6d contact. More...

#include <cop-support.hpp>

Public Types
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::Matrix3s	Matrix3s
typedef MathBase::Matrix46s	Matrix46s
typedef MathBase::Quaternions	Quaternions
typedef MathBase::Vector2s	Vector2s
typedef MathBase::Vector3s	Vector3s
typedef MathBase::Vector4s	Vector4s

Public Member Functions
	CoPSupportTpl ()
	Initialize the center of pressure support.
	CoPSupportTpl (const CoPSupportTpl< Scalar > &support)
	Initialize the center of pressure support.
	CoPSupportTpl (const Matrix3s &R, const Vector2s &box)
	Initialize the center of pressure support.
	CoPSupportTpl (const WrenchConeTpl< Scalar > &support)
	Initialize the center of pressure support.
template<typename NewScalar >
CoPSupportTpl< NewScalar >	cast () const
	Cast the wrench cone to a different scalar type.
const Matrix46s &	get_A () const
	Return the matrix of center of pressure support.
const Vector2s &	get_box () const
	Return dimension of the center of pressure support (length, width)
const Vector4s &	get_lb () const
	Return the lower bound of the center of pressure support.
const Matrix3s &	get_R () const
	Return the rotation matrix that defines the support orientation w.r.t. the inertial frame.
const Vector4s &	get_ub () const
	Return the upper bound of the center of pressure support.
CoPSupportTpl< Scalar > &	operator= (const CoPSupportTpl< Scalar > &other)
void	set_box (const Vector2s &box)
	Modify dimension of the center of pressure support (length, width)
void	set_R (const Matrix3s &R)
	Modify the rotation matrix that defines the support orientation w.r.t. the inertial frame.
void	update ()
	Update the matrix of center of pressure inequalities in the world frame.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Friends
template<class Scalar >
std::ostream &	operator<< (std::ostream &os, const CoPSupportTpl< Scalar > &X)

Detailed Description

template<typename _Scalar>
class crocoddyl::CoPSupportTpl< _Scalar >

This class encapsulates a center of pressure support of a 6d contact.

A CoP support defines a rectangular region that characterizes feasible CoP position.

/sa FrictionConeTpl, WrenchConeTpl

Definition at line 27 of file cop-support.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 32 of file cop-support.hpp.

Vector2s

template<typename _Scalar >

typedef MathBase::Vector2s Vector2s

Definition at line 33 of file cop-support.hpp.

Vector3s

template<typename _Scalar >

typedef MathBase::Vector3s Vector3s

Definition at line 34 of file cop-support.hpp.

Vector4s

template<typename _Scalar >

typedef MathBase::Vector4s Vector4s

Definition at line 35 of file cop-support.hpp.

Matrix3s

template<typename _Scalar >

typedef MathBase::Matrix3s Matrix3s

Definition at line 36 of file cop-support.hpp.

Matrix46s

template<typename _Scalar >

typedef MathBase::Matrix46s Matrix46s

Definition at line 37 of file cop-support.hpp.

Quaternions

template<typename _Scalar >

typedef MathBase::Quaternions Quaternions

Definition at line 38 of file cop-support.hpp.

Constructor & Destructor Documentation

CoPSupportTpl() [1/3]

template<typename _Scalar >

CoPSupportTpl	(	const Matrix3s &	R,
		const Vector2s &	box
	)

Initialize the center of pressure support.

Parameters

[in]	R	Rotation matrix that defines the support orientation w.r.t. the inertial frame
[in]	box	Dimension of the foot surface dim = (length, width)

CoPSupportTpl() [2/3]

template<typename _Scalar >

CoPSupportTpl

(

const WrenchConeTpl< Scalar > &

support

)

Initialize the center of pressure support.

Parameters

[in]

support

Center of pressure support

CoPSupportTpl() [3/3]

template<typename _Scalar >

CoPSupportTpl

(

const CoPSupportTpl< Scalar > &

support

)

Initialize the center of pressure support.

Parameters

[in]

support

Center of pressure support

Member Function Documentation

update()

template<typename _Scalar >

void update

(

)

Update the matrix of center of pressure inequalities in the world frame.

This matrix-vector pair describes the center of pressure model as follow: \( -ub \leq A \times w \leq -lb \), where wrench, \( w \), is expressed in the inertial frame located at the center of the rectangular foot contact area (length, width) with axes parallel to those of the world frame.

cast()

template<typename _Scalar >

template<typename NewScalar >

CoPSupportTpl< NewScalar > cast

(

)

const

Cast the wrench cone to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters

NewScalar

The new scalar type to cast to.

Returns

CoPSupportTpl<NewScalar> A CoP support region with the new scalar type.

set_R()

template<typename _Scalar >

void set_R

(

const Matrix3s &

R

)

Modify the rotation matrix that defines the support orientation w.r.t. the inertial frame.

Note that you need to run update for updating the inequality matrix and bounds.

set_box()

template<typename _Scalar >

void set_box

(

const Vector2s &

box

)

Modify dimension of the center of pressure support (length, width)

Note that you need to run update for updating the inequality matrix and bounds.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 31 of file cop-support.hpp.

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

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/cop-support.hpp