#include <multicontact-api/geometry/linear-cone.hpp>

Inheritance diagram for multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >:

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Collaboration diagram for multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >:

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Public Types
enum	{ dim = Base::dim }

typedef WrenchConeTpl< _Scalar, _Options >	WrenchCone

typedef pinocchio::SE3Tpl< _Scalar, _Options >	SE3

typedef MatrixDx	Matrix3x

typedef VectorD	Vector3

typedef Eigen::AngleAxis< Scalar >	AngleAxis

Public Types inherited from multicontact_api::geometry::LinearCone< _Scalar, 3, _Options >
enum

typedef Eigen::Matrix< Scalar, dim, -1, Options >	MatrixDx

typedef Eigen::Matrix< Scalar, dim, dim, Options >	MatrixD

typedef Eigen::Matrix< Scalar, dim, 1, Options >	VectorD

typedef Eigen::DenseIndex	Index

Public Member Functions
	ForceConeTpl ()
	Default constructor.

template<typename EigenDerived >
	ForceConeTpl (const Eigen::MatrixBase< EigenDerived > &rays)

	ForceConeTpl (const Index size)

WrenchCone	SE3ActOn (const SE3 &M) const

template<typename S2 , int O2>
bool	isApprox (const ForceConeTpl< S2, O2 > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

	operator WrenchCone () const

Public Member Functions inherited from multicontact_api::geometry::LinearCone< _Scalar, 3, _Options >
	LinearCone ()
	Default constructor.

	LinearCone (const Eigen::MatrixBase< EigenDerived > &rays)
	Constructor from a set of rays.

	LinearCone (const Index size)
	Contrustor from a given size.

	LinearCone (const LinearCone< S2, dim, O2 > &other)
	Copy constructor.

void	addRay (const VectorD &ray)

void	stack (const Eigen::MatrixBase< EigenDerived > &rays)

void	stack (const LinearCone< S2, dim, O2 > &other)

const MatrixDx &	rays () const

MatrixDx &	rays ()

Index	size () const

bool	operator== (const LinearCone< S2, dim, O2 > &other) const

bool	operator!= (const LinearCone< S2, dim, O2 > &other) const

bool	isApprox (const LinearCone< S2, dim, O2 > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

void	disp (std::ostream &os) const

Public Member Functions inherited from multicontact_api::serialization::Serializable< LinearCone< _Scalar, _dim, _Options > >
void	loadFromText (const std::string &filename)
	Loads a Derived object from a text file.

void	saveAsText (const std::string &filename) const
	Saved a Derived object as a text file.

void	loadFromXML (const std::string &filename, const std::string &tag_name)
	Loads a Derived object from an XML file.

void	saveAsXML (const std::string &filename, const std::string &tag_name) const
	Saved a Derived object as an XML file.

void	loadFromBinary (const std::string &filename)
	Loads a Derived object from an binary file.

void	saveAsBinary (const std::string &filename) const
	Saved a Derived object as an binary file.

Static Public Member Functions
static ForceConeTpl	RegularCone (const Scalar mu, const VectorD &direction, const int num_rays)

static ForceConeTpl	RegularCone (const Scalar mu, const VectorD &direction, const int num_rays, const Scalar theta_offset)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef LinearCone< _Scalar, 3, _Options >	Base

Public Attributes inherited from multicontact_api::geometry::LinearCone< _Scalar, 3, _Options >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Additional Inherited Members
Protected Attributes inherited from multicontact_api::geometry::LinearCone< _Scalar, 3, _Options >
MatrixDx	m_rays
	Rays of the linear cone.