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

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

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

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Public Types
enum	{ dim = Base::dim }

typedef ForceConeTpl< _Scalar, _Options >	ForceCone

typedef pinocchio::SE3Tpl< _Scalar, _Options >	SE3

typedef MatrixDx	Matrix6x

typedef VectorD	Vector6

typedef ForceCone::Matrix3x	Matrix3x

typedef Matrix6x::template NRowsBlockXpr< 3 >::Type	LinearBlock

typedef Matrix6x::template ConstNRowsBlockXpr< 3 >::Type	ConstLinearBlock

typedef LinearBlock	AngularBlock

typedef ConstLinearBlock	ConstAngularBlock

Public Types inherited from multicontact_api::geometry::LinearCone< _Scalar, 6, _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
	WrenchConeTpl ()
	Default constructor.

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

	WrenchConeTpl (const Index size)
	Constructs a WrenchCone of a given size.

template<typename S2 , int O2>
	WrenchConeTpl (const ForceConeTpl< S2, O2 > &force_cone)
	Constructs a WrenchCone of a given size.

template<typename S2 , int O2>
	WrenchConeTpl (const WrenchConeTpl< S2, O2 > &other)
	Copy constructor.

WrenchConeTpl	SE3ActOn (const SE3 &M) const

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

ConstLinearBlock	linear () const

LinearBlock	linear ()

ConstAngularBlock	angular () const

AngularBlock	angular ()

ForceCone	toForceCone () const

Public Member Functions inherited from multicontact_api::geometry::LinearCone< _Scalar, 6, _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.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef LinearCone< _Scalar, 6, _Options >	Base

Public Attributes inherited from multicontact_api::geometry::LinearCone< _Scalar, 6, _Options >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Additional Inherited Members
Protected Attributes inherited from multicontact_api::geometry::LinearCone< _Scalar, 6, _Options >
MatrixDx	m_rays
	Rays of the linear cone.

Member Typedef Documentation

◆ AngularBlock

template<typename _Scalar , int _Options>

typedef LinearBlock multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::AngularBlock

◆ ConstAngularBlock

template<typename _Scalar , int _Options>

typedef ConstLinearBlock multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::ConstAngularBlock

◆ ConstLinearBlock

template<typename _Scalar , int _Options>

typedef Matrix6x::template ConstNRowsBlockXpr<3>::Type multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::ConstLinearBlock

◆ ForceCone

template<typename _Scalar , int _Options>

typedef ForceConeTpl<_Scalar, _Options> multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::ForceCone

◆ LinearBlock

template<typename _Scalar , int _Options>

typedef Matrix6x::template NRowsBlockXpr<3>::Type multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::LinearBlock

◆ Matrix3x

template<typename _Scalar , int _Options>

typedef ForceCone::Matrix3x multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::Matrix3x

◆ Matrix6x

template<typename _Scalar , int _Options>

typedef MatrixDx multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::Matrix6x

◆ SE3

template<typename _Scalar , int _Options>

typedef pinocchio::SE3Tpl<_Scalar, _Options> multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::SE3

◆ Vector6

template<typename _Scalar , int _Options>

typedef VectorD multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::Vector6

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar , int _Options>

anonymous enum

Enumerator
dim

Constructor & Destructor Documentation

◆ WrenchConeTpl() [1/5]

template<typename _Scalar , int _Options>

multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::WrenchConeTpl ( )

inline

Default constructor.

◆ WrenchConeTpl() [2/5]

template<typename _Scalar , int _Options>

template<typename EigenDerived >

multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::WrenchConeTpl ( const Eigen::MatrixBase< EigenDerived > & rays )

inlineexplicit

Constructor from a set of rays.

◆ WrenchConeTpl() [3/5]

template<typename _Scalar , int _Options>

multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::WrenchConeTpl ( const Index size )

inlineexplicit

Constructs a WrenchCone of a given size.

◆ WrenchConeTpl() [4/5]

template<typename _Scalar , int _Options>

template<typename S2 , int O2>

multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::WrenchConeTpl ( const ForceConeTpl< S2, O2 > & force_cone )

inlineexplicit

Constructs a WrenchCone of a given size.

◆ WrenchConeTpl() [5/5]

template<typename _Scalar , int _Options>

template<typename S2 , int O2>

multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::WrenchConeTpl ( const WrenchConeTpl< S2, O2 > & other )

inline

Copy constructor.

Member Function Documentation

◆ angular() [1/2]

template<typename _Scalar , int _Options>

AngularBlock multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::angular ( )

inline

◆ angular() [2/2]

template<typename _Scalar , int _Options>

ConstAngularBlock multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::angular ( ) const

inline

◆ isApprox()

template<typename _Scalar , int _Options>

template<typename S2 , int O2>

bool multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::isApprox	(	const WrenchConeTpl< S2, O2 > &	other,
		const Scalar &	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`
	)		const

inline

◆ linear() [1/2]

template<typename _Scalar , int _Options>

LinearBlock multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::linear ( )

inline

◆ linear() [2/2]

template<typename _Scalar , int _Options>

ConstLinearBlock multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::linear ( ) const

inline

◆ SE3ActOn()

template<typename _Scalar , int _Options>

WrenchConeTpl multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::SE3ActOn ( const SE3 & M ) const

inline

◆ toForceCone()

template<typename _Scalar , int _Options>

ForceCone multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::toForceCone ( ) const

inline

Member Data Documentation

◆ Base

template<typename _Scalar , int _Options>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef LinearCone<_Scalar, 6, _Options> multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::Base

The documentation for this struct was generated from the following files:

include/multicontact-api/geometry/fwd.hpp
include/multicontact-api/geometry/linear-cone.hpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Member Typedef Documentation

◆ AngularBlock

◆ ConstAngularBlock

◆ ConstLinearBlock

◆ ForceCone

◆ LinearBlock

◆ Matrix3x

◆ Matrix6x

◆ SE3

◆ Vector6

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ WrenchConeTpl() [1/5]

◆ WrenchConeTpl() [2/5]

◆ WrenchConeTpl() [3/5]

◆ WrenchConeTpl() [4/5]

◆ WrenchConeTpl() [5/5]

Member Function Documentation

◆ angular() [1/2]

◆ angular() [2/2]

◆ isApprox()

◆ linear() [1/2]

◆ linear() [2/2]

◆ SE3ActOn()

◆ toForceCone()

Member Data Documentation

◆ Base