multicontact_api::scenario::ContactModelTpl< _Scalar > Struct Template Reference

#include <multicontact-api/scenario/contact-model.hpp>

Inheritance diagram for multicontact_api::scenario::ContactModelTpl< _Scalar >:

Collaboration diagram for multicontact_api::scenario::ContactModelTpl< _Scalar >:

Public Types
typedef Eigen::Matrix< Scalar, 3, 3 >	Matrix3
typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic >	Matrix3X
typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic >	Matrix6X

Public Member Functions
	ContactModelTpl ()
	Default constructor.
	ContactModelTpl (const Scalar mu)
	Constructor with friction.
	ContactModelTpl (const Scalar mu, const ContactType contact_type)
	Full constructor.
template<typename S2 >
	ContactModelTpl (const ContactModelTpl< S2 > &other)
	Copy constructor.
template<typename S2 >
bool	operator== (const ContactModelTpl< S2 > &other) const
template<typename S2 >
bool	operator!= (const ContactModelTpl< S2 > &other) const
void	disp (std::ostream &os) const
size_t	num_contact_points () const
void	num_contact_points (const size_t num)
Matrix3X	contact_points_positions () const
void	contact_points_positions (const Matrix3X &positions)
Matrix6X	generatorMatrix () const
	generatorMatrix Return a 6x(num_contact_points*3) matrix containing the generator used to compute contact forces.
Public Member Functions inherited from multicontact_api::serialization::Serializable< ContactModelTpl< _Scalar > >
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 _Scalar	Scalar
Scalar	m_mu
	Friction coefficient.
ContactType	m_contact_type
	ZMP radius.

Friends
class	boost::serialization::access
template<typename S2 >
std::ostream &	operator<< (std::ostream &os, const ContactModelTpl< S2 > &cp)

Member Typedef Documentation

Matrix3

template<typename _Scalar >

typedef Eigen::Matrix<Scalar, 3, 3> multicontact_api::scenario::ContactModelTpl< _Scalar >::Matrix3

Matrix3X

template<typename _Scalar >

typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic> multicontact_api::scenario::ContactModelTpl< _Scalar >::Matrix3X

Matrix6X

template<typename _Scalar >

typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic> multicontact_api::scenario::ContactModelTpl< _Scalar >::Matrix6X

Constructor & Destructor Documentation

ContactModelTpl() [1/4]

template<typename _Scalar >

multicontact_api::scenario::ContactModelTpl< _Scalar >::ContactModelTpl ( )

inline

Default constructor.

ContactModelTpl() [2/4]

template<typename _Scalar >

multicontact_api::scenario::ContactModelTpl< _Scalar >::ContactModelTpl ( const Scalar  mu )

inline

Constructor with friction.

ContactModelTpl() [3/4]

template<typename _Scalar >

multicontact_api::scenario::ContactModelTpl< _Scalar >::ContactModelTpl ( const Scalar  mu, const ContactType  contact_type  )

inline

Full constructor.

ContactModelTpl() [4/4]

template<typename _Scalar >

template<typename S2 >

multicontact_api::scenario::ContactModelTpl< _Scalar >::ContactModelTpl ( const ContactModelTpl< S2 > &  other )

inlineexplicit

Copy constructor.

Member Function Documentation

contact_points_positions() [1/2]

template<typename _Scalar >

Matrix3X multicontact_api::scenario::ContactModelTpl< _Scalar >::contact_points_positions ( ) const

inline

contact_points_positions() [2/2]

template<typename _Scalar >

void multicontact_api::scenario::ContactModelTpl< _Scalar >::contact_points_positions ( const Matrix3X &  positions )

inline

disp()

template<typename _Scalar >

void multicontact_api::scenario::ContactModelTpl< _Scalar >::disp ( std::ostream &  os ) const

inline

generatorMatrix()

template<typename _Scalar >

Matrix6X multicontact_api::scenario::ContactModelTpl< _Scalar >::generatorMatrix ( ) const

inline

generatorMatrix Return a 6x(num_contact_points*3) matrix containing the generator used to compute contact forces.

Returns

num_contact_points() [1/2]

template<typename _Scalar >

size_t multicontact_api::scenario::ContactModelTpl< _Scalar >::num_contact_points ( ) const

inline

num_contact_points() [2/2]

template<typename _Scalar >

void multicontact_api::scenario::ContactModelTpl< _Scalar >::num_contact_points ( const size_t  num )

inline

operator!=()

template<typename _Scalar >

template<typename S2 >

bool multicontact_api::scenario::ContactModelTpl< _Scalar >::operator!= ( const ContactModelTpl< S2 > &  other ) const

inline

operator==()

template<typename _Scalar >

template<typename S2 >

bool multicontact_api::scenario::ContactModelTpl< _Scalar >::operator== ( const ContactModelTpl< S2 > &  other ) const

inline

Friends And Related Symbol Documentation

boost::serialization::access

template<typename _Scalar >

friend class boost::serialization::access

friend

operator<<

template<typename _Scalar >

template<typename S2 >

std::ostream & operator<< ( std::ostream &  os, const ContactModelTpl< S2 > &  cp  )

friend

Member Data Documentation

m_contact_type

template<typename _Scalar >

ContactType multicontact_api::scenario::ContactModelTpl< _Scalar >::m_contact_type

ZMP radius.

m_mu

template<typename _Scalar >

Scalar multicontact_api::scenario::ContactModelTpl< _Scalar >::m_mu

Friction coefficient.

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar multicontact_api::scenario::ContactModelTpl< _Scalar >::Scalar

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

• include/multicontact-api/scenario/contact-model.hpp