Crocoddyl
 
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cop-support.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2021-2025, University of Edinburgh, University of Oxford,
5// Heriot-Watt University
6// Copyright note valid unless otherwise stated in individual files.
7// All rights reserved.
9
10#ifndef CROCODDYL_MULTIBODY_COP_SUPPORT_HPP_
11#define CROCODDYL_MULTIBODY_COP_SUPPORT_HPP_
12
13#include "crocoddyl/multibody/fwd.hpp"
14#include "crocoddyl/multibody/wrench-cone.hpp"
15
16namespace crocoddyl {
17
26template <typename _Scalar>
28 public:
29 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
30
31 typedef _Scalar Scalar;
33 typedef typename MathBase::Vector2s Vector2s;
34 typedef typename MathBase::Vector3s Vector3s;
35 typedef typename MathBase::Vector4s Vector4s;
36 typedef typename MathBase::Matrix3s Matrix3s;
37 typedef typename MathBase::Matrix46s Matrix46s;
38 typedef typename MathBase::Quaternions Quaternions;
39
47 CoPSupportTpl(const Matrix3s& R, const Vector2s& box);
48
55
62
66 explicit CoPSupportTpl();
68
79 void update();
80
90 template <typename NewScalar>
92
96 const Matrix46s& get_A() const;
97
101 const Vector4s& get_ub() const;
102
106 const Vector4s& get_lb() const;
107
111 const Vector2s& get_box() const;
112
117 const Matrix3s& get_R() const;
118
126 void set_R(const Matrix3s& R);
127
134 void set_box(const Vector2s& box);
135
136 CoPSupportTpl<Scalar>& operator=(const CoPSupportTpl<Scalar>& other);
137
138 template <class Scalar>
139 friend std::ostream& operator<<(std::ostream& os,
140 const CoPSupportTpl<Scalar>& X);
141
142 private:
143 Matrix46s A_;
144 Vector4s ub_;
145 Vector4s lb_;
146 Matrix3s R_;
147 Vector2s box_;
148};
149
150} // namespace crocoddyl
151
152#include "crocoddyl/multibody/cop-support.hxx"
153
154CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::CoPSupportTpl)
155
156#endif // CROCODDYL_MULTIBODY_COP_SUPPORT_HPP_
This class encapsulates a center of pressure support of a 6d contact.
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.
CoPSupportTpl< NewScalar > cast() const
Cast the wrench cone to a different scalar type.
void set_box(const Vector2s &box)
Modify dimension of the center of pressure support (length, width)
CoPSupportTpl(const CoPSupportTpl< Scalar > &support)
Initialize the center of pressure support.
CoPSupportTpl(const Matrix3s &R, const Vector2s &box)
Initialize the center of pressure support.
const Matrix46s & get_A() const
Return the matrix of center of pressure support.
void set_R(const Matrix3s &R)
Modify the rotation matrix that defines the support orientation w.r.t. the inertial frame.
CoPSupportTpl()
Initialize the center of pressure support.
CoPSupportTpl(const WrenchConeTpl< Scalar > &support)
Initialize the center of pressure support.
void update()
Update the matrix of center of pressure inequalities in the world frame.
const Vector4s & get_ub() const
Return the upper bound of the center of pressure support.
This class encapsulates a wrench cone.