Inheritance diagram for ContactModel6DTpl< _Scalar >:

Public Types
typedef ContactModelAbstractTpl< Scalar >	Base

typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract

typedef ContactData6DTpl< Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::Matrix3s	Matrix3s

typedef pinocchio::SE3Tpl< Scalar >	SE3

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::Vector2s	Vector2s

typedef MathBase::Vector3s	Vector3s

typedef MathBase::VectorXs	VectorXs

Public Types inherited from ContactModelAbstractTpl< _Scalar >
typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ContactModel6DTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const pinocchio::ReferenceFrame type, const std::size_t nu, const Vector2s &gains=Vector2s::Zero())
	Initialize the 6d contact model. More...

	ContactModel6DTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const pinocchio::ReferenceFrame type, const Vector2s &gains=Vector2s::Zero())
	Initialize the 6d contact model. More...

this assumes is	ContactModel6DTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const Vector2s &gains=Vector2s::Zero())

virtual void	calc (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the 3d 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 6d contact holonomic constraint. More...

virtual boost::shared_ptr< ContactDataAbstract >	createData (pinocchio::DataTpl< Scalar > *const data)
	Create the 6d contact data.

	DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ContactModel6DTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const std::size_t nu, const Vector2s &gains=Vector2s::Zero());) DEPRECATED("Use const ructor that passes the type type of contact

const Vector2s &	get_gains () const
	Return the Baumgarte stabilization gains.

const SE3 &	get_reference () const
	Return the reference frame placement.

virtual void	print (std::ostream &os) const
	Print relevant information of the 6d contact model. More...

void	set_reference (const SE3 &reference)
	Modify the reference frame placement.

virtual void	updateForce (const boost::shared_ptr< ContactDataAbstract > &data, const VectorXs &force)
	Convert the force into a stack of spatial forces. More...

Public Member Functions inherited from ContactModelAbstractTpl< _Scalar >
	ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::ReferenceFrame type, const std::size_t nc)

	ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::ReferenceFrame type, const std::size_t nc, const std::size_t nu)
	Initialize the contact abstraction. More...

this assumes is	ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc)

	DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ContactModelAbstractTpl(boost::shared_ptr< StateMultibody > state, const std::size_t nc, const std::size_t nu);) DEPRECATED("Use const ructor that passes the type type of contact

pinocchio::FrameIndex	get_id () const
	Return the reference frame id.

std::size_t	get_nc () const
	Return the dimension of the contact.

std::size_t	get_nu () const
	Return the dimension of the control vector.

const boost::shared_ptr< StateMultibody > &	get_state () const
	Return the state.

pinocchio::ReferenceFrame	get_type () const
	Return the type of contact.

void	set_id (const pinocchio::FrameIndex id)
	Modify the reference frame id.

void	set_type (const pinocchio::ReferenceFrame type)
	Modify the type of contact.

void	setZeroForce (const boost::shared_ptr< ContactDataAbstract > &data) const
	Set the stack of spatial forces to zero. More...

void	setZeroForceDiff (const boost::shared_ptr< ContactDataAbstract > &data) const
	Set the stack of spatial forces Jacobians to zero. More...

void	updateForceDiff (const boost::shared_ptr< ContactDataAbstract > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const
	Convert the force into a stack of spatial forces. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Public Attributes inherited from ContactModelAbstractTpl< _Scalar >
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_

pinocchio::ReferenceFrame	type_
	Type of contact.

Protected Attributes inherited from ContactModelAbstractTpl< _Scalar >
pinocchio::FrameIndex	id_
	Reference frame id of the contact.

std::size_t	nc_

std::size_t	nu_

boost::shared_ptr< StateMultibody >	state_

pinocchio::ReferenceFrame	type_
	Type of contact.

Detailed Description

template<typename _Scalar>
class crocoddyl::ContactModel6DTpl< _Scalar >

Definition at line 23 of file contact-6d.hpp.

Constructor & Destructor Documentation

◆ ContactModel6DTpl() [1/2]

ContactModel6DTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const SE3 &	pref,
		const pinocchio::ReferenceFrame	type,
		const std::size_t	nu,
		const Vector2s &	gains = `Vector2s::Zero()`
	)

Initialize the 6d contact model.

To learn more about the computation of the contact derivatives in different frames see S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos, ICHR 2022

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id of the contact
[in]	pref	Contact placement used for the Baumgarte stabilization
[in]	type	Type of contact
[in]	nu	Dimension of the control vector
[in]	gains	Baumgarte stabilization gains

◆ ContactModel6DTpl() [2/2]

ContactModel6DTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const SE3 &	pref,
		const pinocchio::ReferenceFrame	type,
		const Vector2s &	gains = `Vector2s::Zero()`
	)

Initialize the 6d contact model.

The default nu is obtained from StateAbstractTpl::get_nv(). To learn more about the computation of the contact derivatives in different frames see S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos, ICHR 2022

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id of the contact
[in]	pref	Contact placement used for the Baumgarte stabilization
[in]	type	Type of contact
[in]	gains	Baumgarte stabilization gains

Member Function Documentation

◆ calc()

virtual void calc	(	const boost::shared_ptr< ContactDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

virtual

Compute the 3d contact Jacobian and drift.

Parameters

[in]	data	3d 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 >.

◆ calcDiff()

virtual void calcDiff	(	const boost::shared_ptr< ContactDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

virtual

Compute the derivatives of the 6d contact holonomic constraint.

Parameters

[in]	data	6d 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 >.

◆ updateForce()

virtual void updateForce	(	const boost::shared_ptr< ContactDataAbstract > &	data,
		const VectorXs &	force
	)

virtual

Convert the force into a stack of spatial forces.

Parameters

[in]	data	6d contact data
[in]	force	6d force

Implements ContactModelAbstractTpl< _Scalar >.

◆ print()

virtual void print ( std::ostream & os ) const

virtual

Print relevant information of the 6d contact model.

Parameters

[out] os Output stream object

Reimplemented from ContactModelAbstractTpl< _Scalar >.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.0.2/include/crocoddyl/multibody/contacts/contact-6d.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<typename _Scalar> class crocoddyl::ContactModel6DTpl< _Scalar >

Constructor & Destructor Documentation

◆ ContactModel6DTpl() [1/2]

◆ ContactModel6DTpl() [2/2]

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ updateForce()

◆ print()

template<typename _Scalar>
class crocoddyl::ContactModel6DTpl< _Scalar >