crocoddyl
1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
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9 #ifndef CROCODDYL_MULTIBODY_COP_SUPPORT_HPP_
10 #define CROCODDYL_MULTIBODY_COP_SUPPORT_HPP_
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/core/mathbase.hpp"
24 template <
typename _Scalar>
27 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
29 typedef _Scalar Scalar;
31 typedef typename MathBase::Vector2s Vector2s;
32 typedef typename MathBase::Vector3s Vector3s;
33 typedef typename MathBase::Vector4s Vector4s;
34 typedef typename MathBase::Matrix3s Matrix3s;
35 typedef typename MathBase::Matrix46s Matrix46s;
36 typedef typename MathBase::Quaternions Quaternions;
80 const Matrix46s&
get_A()
const;
85 const Vector4s&
get_ub()
const;
90 const Vector4s&
get_lb()
const;
95 const Vector2s&
get_box()
const;
100 const Matrix3s&
get_R()
const;
107 void set_R(
const Matrix3s& R);
114 void set_box(
const Vector2s& box);
118 template <
class Scalar>
131 #include "crocoddyl/multibody/cop-support.hxx"
133 #endif // CROCODDYL_MULTIBODY_COP_SUPPORT_HPP_
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.
void set_R(const Matrix3s &R)
Modify the rotation matrix that defines the support orientation w.r.t. the inertial frame.
const Vector4s & get_lb() const
Return the lower bound of the center of pressure support.
void set_box(const Vector2s &box)
Modify dimension of the center of pressure support (length, width)
void update()
Update the matrix of center of pressure inequalities in the world frame.
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 Matrix46s & get_A() const
Return the matrix of center of pressure support.
CoPSupportTpl()
Initialize the center of pressure support.