Public Types | |
typedef ContactModelAbstractTpl< Scalar > | Base |
typedef ContactDataAbstractTpl< Scalar > | ContactDataAbstract |
typedef ContactData1DTpl< Scalar > | Data |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::Matrix3s | Matrix3s |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
typedef MathBase::Vector2s | Vector2s |
typedef MathBase::Vector3s | Vector3s |
typedef MathBase::VectorXs | VectorXs |
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typedef ContactDataAbstractTpl< Scalar > | ContactDataAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
ContactModel1DTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const std::size_t nu, const Vector2s &gains=Vector2s::Zero()) | |
Initialize the 1d contact model. More... | |
ContactModel1DTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const Vector2s &gains=Vector2s::Zero()) | |
Initialize the 1d contact model. More... | |
virtual void | calc (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the 1d contact Jacobian and drift. More... | |
virtual void | calcDiff (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the derivatives of the 1d contact holonomic constraint. More... | |
virtual boost::shared_ptr< ContactDataAbstract > | createData (pinocchio::DataTpl< Scalar > *const data) |
Create the 1d contact data. | |
const Vector2s & | get_gains () const |
Create the 1d contact data. | |
const Scalar | get_reference () const |
Return the reference frame translation. | |
virtual void | print (std::ostream &os) const |
Print relevant information of the 1d contact model. More... | |
void | set_reference (const Scalar reference) |
Modify the reference frame translation. | |
virtual void | updateForce (const boost::shared_ptr< ContactDataAbstract > &data, const VectorXs &force) |
Convert the force into a stack of spatial forces. More... | |
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ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc) | |
ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc, const std::size_t nu) | |
pinocchio::FrameIndex | get_id () const |
Return the reference frame id. | |
std::size_t | get_nc () const |
std::size_t | get_nu () const |
const boost::shared_ptr< StateMultibody > & | get_state () const |
void | set_id (const pinocchio::FrameIndex id) |
Modify the reference frame id. | |
void | setZeroForce (const boost::shared_ptr< ContactDataAbstract > &data) const |
void | setZeroForceDiff (const boost::shared_ptr< ContactDataAbstract > &data) const |
void | updateForceDiff (const boost::shared_ptr< ContactDataAbstract > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Protected Attributes | |
pinocchio::FrameIndex | id_ |
Reference frame id of the contact. | |
std::size_t | nc_ |
std::size_t | nu_ |
boost::shared_ptr< StateMultibody > | state_ |
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pinocchio::FrameIndex | id_ |
Reference frame id of the contact. | |
std::size_t | nc_ |
std::size_t | nu_ |
boost::shared_ptr< StateMultibody > | state_ |
Definition at line 26 of file contact-1d.hpp.
ContactModel1DTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const pinocchio::FrameIndex | id, | ||
const Scalar | xref, | ||
const std::size_t | nu, | ||
const Vector2s & | gains = Vector2s::Zero() |
||
) |
Initialize the 1d contact model.
[in] | state | State of the multibody system |
[in] | id | Reference frame id of the contact |
[in] | xref | Contact position used for the Baumgarte stabilization |
[in] | nu | Dimension of the control vector |
[in] | gains | Baumgarte stabilization gains |
ContactModel1DTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const pinocchio::FrameIndex | id, | ||
const Scalar | xref, | ||
const Vector2s & | gains = Vector2s::Zero() |
||
) |
Initialize the 1d contact model.
The default nu
is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
[in] | id | Reference frame id of the contact |
[in] | xref | Contact position used for the Baumgarte stabilization |
[in] | gains | Baumgarte stabilization gains |
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virtual |
Compute the 1d contact Jacobian and drift.
[in] | data | 1d contact data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
Implements ContactModelAbstractTpl< _Scalar >.
|
virtual |
Compute the derivatives of the 1d contact holonomic constraint.
[in] | data | 1d contact data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
Implements ContactModelAbstractTpl< _Scalar >.
|
virtual |
Convert the force into a stack of spatial forces.
[in] | data | 1d contact data |
[in] | force | 1d force |
Implements ContactModelAbstractTpl< _Scalar >.
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virtual |
Print relevant information of the 1d contact model.
[out] | os | Output stream object |
Reimplemented from ContactModelAbstractTpl< _Scalar >.