10#ifndef CROCODDYL_MULTIBODY_WRENCH_CONE_HPP_
11#define CROCODDYL_MULTIBODY_WRENCH_CONE_HPP_
13#include "crocoddyl/core/utils/deprecate.hpp"
14#include "crocoddyl/multibody/fwd.hpp"
31template <
typename _Scalar>
34 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
36 typedef _Scalar Scalar;
38 typedef typename MathBase::Vector2s Vector2s;
39 typedef typename MathBase::Vector3s Vector3s;
40 typedef typename MathBase::Matrix3s Matrix3s;
41 typedef typename MathBase::Matrix6s Matrix6s;
42 typedef typename MathBase::VectorXs VectorXs;
43 typedef typename MathBase::MatrixXs MatrixXs;
44 typedef typename MathBase::MatrixX3s MatrixX3s;
45 typedef typename MathBase::MatrixX6s MatrixX6s;
46 typedef typename MathBase::Quaternions Quaternions;
62 const Matrix3s& R,
const Scalar mu,
const Vector2s& box,
63 const std::size_t nf = 4,
const bool inner_appr =
true,
64 const Scalar min_nforce = Scalar(0.),
65 const Scalar max_nforce = std::numeric_limits<Scalar>::infinity());
68 const Vector2s& box, std::size_t nf,
69 const Scalar min_nforce,
70 const Scalar max_nforce =
71 std::numeric_limits<Scalar>::infinity());)
97 void update(
const Matrix3s& R,
const Scalar mu,
99 const Scalar min_nforce = Scalar(0.),
100 const Scalar max_nforce =
101 std::numeric_limits<Scalar>::infinity()));
111 template <
typename NewScalar>
218 template <
class Scalar>
219 friend std::ostream& operator<<(std::ostream& os,
238#include "crocoddyl/multibody/wrench-cone.hxx"
This class encapsulates a wrench cone.
void set_max_nforce(const Scalar max_nforce)
Modify the maximum normal force.
const VectorXs & get_ub() const
Return the upper bound of inequalities.
bool get_inner_appr() const
Return the label that describes the type of friction cone approximation (inner/outer)
const Vector2s & get_box() const
Return dimension of the foot surface dim = (length, width)
WrenchConeTpl(const Matrix3s &R, const Scalar mu, const Vector2s &box, const std::size_t nf=4, const bool inner_appr=true, const Scalar min_nforce=Scalar(0.), const Scalar max_nforce=std::numeric_limits< Scalar >::infinity())
Initialize the wrench cone.
const Matrix3s & get_R() const
Return the rotation matrix that defines the cone orientation w.r.t. the inertial frame.
void set_box(const Vector2s &box)
Modify dimension of the foot surface dim = (length, width)
const Scalar get_max_nforce() const
Return the maximum normal force.
WrenchConeTpl()
Initialize the wrench cone.
void set_inner_appr(const bool inner_appr)
Modify the label that describes the type of friction cone approximation (inner/outer)
const Scalar get_mu() const
Return friction coefficient.
void set_min_nforce(const Scalar min_nforce)
Modify the minium normal force.
std::size_t get_nf() const
Return the number of facets.
void set_R(const Matrix3s &R)
Modify the rotation matrix that defines the cone orientation w.r.t. the inertial frame.
const VectorXs & get_lb() const
Return the lower bound of inequalities.
WrenchConeTpl< NewScalar > cast() const
Cast the wrench cone to a different scalar type.
const Scalar get_min_nforce() const
Return the minimum normal force.
void set_mu(const Scalar mu)
Modify friction coefficient.
const MatrixX6s & get_A() const
Return the matrix of wrench cone.
void update()
Update the matrix of wrench cone inequalities in the world frame.
DEPRECATED("Use constructor that includes inner_appr", WrenchConeTpl(const Matrix3s &R, const Scalar mu, const Vector2s &box, std::size_t nf, const Scalar min_nforce, const Scalar max_nforce=std::numeric_limits< Scalar >::infinity());) WrenchConeTpl(const WrenchConeTpl< Scalar > &cone)
Initialize the wrench cone.