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

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

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

[legend]

Public Types
typedef ndcurves::pointX_t	pointX_t

typedef ndcurves::point3_t	point3_t

typedef ndcurves::point6_t	point6_t

typedef ndcurves::t_point3_t	t_point3_t

typedef ndcurves::t_pointX_t	t_pointX_t

typedef ndcurves::transform_t	transform_t

typedef ndcurves::curve_abc_t	curve_t

typedef ndcurves::curve_SE3_t	curve_SE3_t

typedef ndcurves::curve_ptr_t	curve_ptr

typedef ndcurves::curve_SE3_ptr_t	curve_SE3_ptr

typedef ndcurves::piecewise3_t	piecewise3_t

typedef ndcurves::piecewise_t	piecewise_t

typedef piecewise_t::t_time_t	t_time_t

typedef std::vector< std::string >	t_strings

typedef ContactPatchTpl< Scalar >	ContactPatch

typedef ContactPatch::SE3	SE3

typedef std::map< std::string, ContactPatch >	ContactPatchMap

typedef CurveMap< curve_ptr >	CurveMap_t

typedef CurveMap< curve_SE3_ptr >	CurveSE3Map_t

Public Member Functions
	ContactPhaseTpl ()
	Default constructor.

	ContactPhaseTpl (const Scalar t_init, const Scalar t_final)
	ContactPhaseTpl Constructor with time interval.

template<typename S2 >
	ContactPhaseTpl (const ContactPhaseTpl< S2 > &other)
	Copy constructor.

template<typename S2 >
bool	operator== (const ContactPhaseTpl< S2 > &other) const

template<typename S2 >
bool	operator!= (const ContactPhaseTpl< S2 > &other) const

Scalar	timeInitial () const

void	timeInitial (const Scalar t)

Scalar	timeFinal () const

void	timeFinal (const Scalar t)

Scalar	duration () const

void	duration (const Scalar d)

CurveMap_t	contactForces () const

CurveMap_t	contactNormalForces () const

CurveSE3Map_t	effectorTrajectories () const

curve_ptr	contactForces (const std::string &eeName)

curve_ptr	contactNormalForces (const std::string &eeName)

curve_SE3_ptr	effectorTrajectories (const std::string &eeName)

bool	addContactForceTrajectory (const std::string &eeName, const curve_ptr trajectory)
	addContactForceTrajectory add a trajectory to the map of contact forces. If a trajectory already exist for this effector, it is overwritted.

bool	addContactNormalForceTrajectory (const std::string &eeName, const curve_ptr trajectory)
	addContactNormalForceTrajectory add a trajectory to the map of contact normal forces. If a trajectory already exist for this effector, it is overwritted.

bool	addEffectorTrajectory (const std::string &eeName, const curve_SE3_ptr trajectory)
	adEffectorTrajectory add a trajectory to the map of contact forces. If a trajectory already exist for this effector, it is overwritted.

ContactPatchMap	contactPatches () const

ContactPatch &	contactPatch (const std::string &eeName)

bool	addContact (const std::string &eeName, const ContactPatch &patch)
	addContact add a new contact patch to this contact phase If a contact phase already exist for this effector, it is overwritted. If an end effector trajectory exist for this contact, it is removed.

bool	removeContact (const std::string &eeName)
	removeContact remove the given contact This will also remove the contact_patch all the contact_forces and contact_normal_forces related to this contact

std::size_t	numContacts () const

t_strings	effectorsInContact () const

bool	isEffectorInContact (const std::string &eeName) const

t_strings	effectorsWithTrajectory () const
	effectorsWithTrajectory return a set of all effectors for which an effector trajectory have been defined

bool	effectorHaveAtrajectory (const std::string &eeName) const
	effectorHaveAtrajectory check if an end effector trajectory have been defined for a given effector

bool	isConsistent (const bool throw_if_inconsistent=false) const
	isConsistent check if all the members of the phase are consistent together:

void	setCOMtrajectoryFromPoints (const t_pointX_t &points, const t_pointX_t &points_derivative, const t_pointX_t &points_second_derivative, const t_time_t &time_points)
	setCOMtrajectoryFromPoints set the c,dc and ddc curves from a list of discrete COM positions, velocity and accelerations. The trajectories are build with first order polynomials connecting each discrete points given. this method also set the initial/final values for c, dc and ddc from the first and last discrete point given.

void	setAMtrajectoryFromPoints (const t_pointX_t &points, const t_pointX_t &points_derivative, const t_time_t &time_points)
	setAMtrajectoryFromPoints set the L and d_L curves from a list of discrete Angular velocity values and their derivatives The trajectories are build with first order polynomials connecting each discrete points given. This method also set the initial/final values for L, and dL from the first and last discrete point given.

void	setJointsTrajectoryFromPoints (const t_pointX_t &points, const t_pointX_t &points_derivative, const t_pointX_t &points_second_derivative, const t_time_t &time_points)
	setJointsTrajectoryFromPoints set the q,dq and ddq curves from a list of discrete joints positions, velocity and accelerations. The trajectories are build with first order polynomials connecting each discrete points given. This method also set initial/final values for q from the first and last discrete point given.

t_strings	getContactsBroken (const ContactPhase &to) const
	getContactsBroken return the list of effectors in contact in '*this' but not in contact in 'to'

t_strings	getContactsCreated (const ContactPhase &to) const
	getContactsCreated return the list of effectors in contact in 'to' but not in contact in '*this'

t_strings	getContactsRepositioned (const ContactPhase &to) const
	getContactsRepositioned return the list of effectors in contact both in 'to' and '*this' but not at the same placement

t_strings	getContactsVariations (const ContactPhase &to) const
	getContactsVariations return the list of all the effectors whose contacts differ between *this and to

void	disp (std::ostream &os) const

Public Member Functions inherited from multicontact_api::serialization::Serializable< ContactPhaseTpl< _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

point3_t	m_c_init
	Initial position of the center of mass for this contact phase.

point3_t	m_dc_init
	Initial velocity of the center of mass for this contact phase.

point3_t	m_ddc_init
	Initial acceleration of the center of mass for this contact phase.

point3_t	m_L_init
	Initial angular momentum for this contact phase.

point3_t	m_dL_init
	Initial angular momentum derivative for this contact phase.

pointX_t	m_q_init
	Initial whole body configuration of this phase.

point3_t	m_c_final
	Final position of the center of mass for this contact phase.

point3_t	m_dc_final
	Final velocity of the center of mass for this contact phase.

point3_t	m_ddc_final
	Final acceleration of the center of mass for this contact phase.

point3_t	m_L_final
	Final angular momentum for this contact phase.

point3_t	m_dL_final
	Final angular momentum derivative for this contact phase.

pointX_t	m_q_final
	Final whole body configuration of this phase.

curve_ptr	m_q
	trajectory for the joint positions

curve_ptr	m_dq
	trajectory for the joint velocities

curve_ptr	m_ddq
	trajectory for the joint accelerations

curve_ptr	m_tau
	trajectory for the joint torques

curve_ptr	m_c
	trajectory for the center of mass position

curve_ptr	m_dc
	trajectory for the center of mass velocity

curve_ptr	m_ddc
	trajectory for the center of mass acceleration

curve_ptr	m_L
	trajectory for the angular momentum

curve_ptr	m_dL
	trajectory for the angular momentum derivative

curve_ptr	m_wrench
	trajectory for the centroidal wrench

curve_ptr	m_zmp
	trajectory for the zmp

curve_SE3_ptr	m_root
	SE3 trajectory of the root of the robot.

Protected Attributes
CurveMap_t	m_contact_forces
	map with keys : effector name containing the contact forces

CurveMap_t	m_contact_normal_force
	map with keys : effector name containing the contact normal force

CurveSE3Map_t	m_effector_trajectories
	map with keys : effector name containing the end effector trajectory

t_strings	m_effector_in_contact
	set of the name of all effector in contact for this phase

ContactPatchMap	m_contact_patches
	map effector name : contact patches. All the patches are actives

Scalar	m_t_init
	time at the beginning of the contact phase

Scalar	m_t_final
	time at the end of the contact phase

Friends
class	boost::serialization::access

template<typename S2 >
std::ostream &	operator<< (std::ostream &os, const ContactPhaseTpl< S2 > &cp)

Member Typedef Documentation

◆ ContactPatch

template<typename _Scalar >

typedef ContactPatchTpl<Scalar> multicontact_api::scenario::ContactPhaseTpl< _Scalar >::ContactPatch

◆ ContactPatchMap

template<typename _Scalar >

typedef std::map<std::string, ContactPatch> multicontact_api::scenario::ContactPhaseTpl< _Scalar >::ContactPatchMap

◆ curve_ptr

template<typename _Scalar >

typedef ndcurves::curve_ptr_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::curve_ptr

◆ curve_SE3_ptr

template<typename _Scalar >

typedef ndcurves::curve_SE3_ptr_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::curve_SE3_ptr

◆ curve_SE3_t

template<typename _Scalar >

typedef ndcurves::curve_SE3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::curve_SE3_t

◆ curve_t

template<typename _Scalar >

typedef ndcurves::curve_abc_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::curve_t

◆ CurveMap_t

template<typename _Scalar >

typedef CurveMap<curve_ptr> multicontact_api::scenario::ContactPhaseTpl< _Scalar >::CurveMap_t

◆ CurveSE3Map_t

template<typename _Scalar >

typedef CurveMap<curve_SE3_ptr> multicontact_api::scenario::ContactPhaseTpl< _Scalar >::CurveSE3Map_t

◆ piecewise3_t

template<typename _Scalar >

typedef ndcurves::piecewise3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::piecewise3_t

◆ piecewise_t

template<typename _Scalar >

typedef ndcurves::piecewise_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::piecewise_t

◆ point3_t

template<typename _Scalar >

typedef ndcurves::point3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::point3_t

◆ point6_t

template<typename _Scalar >

typedef ndcurves::point6_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::point6_t

◆ pointX_t

template<typename _Scalar >

typedef ndcurves::pointX_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::pointX_t

◆ SE3

template<typename _Scalar >

typedef ContactPatch::SE3 multicontact_api::scenario::ContactPhaseTpl< _Scalar >::SE3

◆ t_point3_t

template<typename _Scalar >

typedef ndcurves::t_point3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::t_point3_t

◆ t_pointX_t

template<typename _Scalar >

typedef ndcurves::t_pointX_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::t_pointX_t

◆ t_strings

template<typename _Scalar >

typedef std::vector<std::string> multicontact_api::scenario::ContactPhaseTpl< _Scalar >::t_strings

◆ t_time_t

template<typename _Scalar >

typedef piecewise_t::t_time_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::t_time_t

◆ transform_t

template<typename _Scalar >

typedef ndcurves::transform_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::transform_t

Constructor & Destructor Documentation

◆ ContactPhaseTpl() [1/3]

template<typename _Scalar >

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

inline

Default constructor.

◆ ContactPhaseTpl() [2/3]

template<typename _Scalar >

multicontact_api::scenario::ContactPhaseTpl< _Scalar >::ContactPhaseTpl	(	const Scalar	t_init,
		const Scalar	t_final
	)

inline

ContactPhaseTpl Constructor with time interval.

Parameters

t_init	the time at the beginning of this contact phase
t_final	the time at the end of this contact phase

Exceptions

invalid_argument if t_final < t_init

◆ ContactPhaseTpl() [3/3]

template<typename _Scalar >

template<typename S2 >

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

inline

Copy constructor.

Member Function Documentation

◆ addContact()

template<typename _Scalar >

bool multicontact_api::scenario::ContactPhaseTpl< _Scalar >::addContact	(	const std::string &	eeName,
		const ContactPatch &	patch
	)

inline

addContact add a new contact patch to this contact phase If a contact phase already exist for this effector, it is overwritted. If an end effector trajectory exist for this contact, it is removed.

Parameters

eeName	the name of the effector in contact
patch	the contact patch

Returns: false if a contact for this effector already existed (and have been overwrited) true otherwise

◆ addContactForceTrajectory()

template<typename _Scalar >

bool multicontact_api::scenario::ContactPhaseTpl< _Scalar >::addContactForceTrajectory	(	const std::string &	eeName,
		const curve_ptr	trajectory
	)

inline

addContactForceTrajectory add a trajectory to the map of contact forces. If a trajectory already exist for this effector, it is overwritted.

Parameters

eeName	the name of the effector (key of the map)
trajectory	the trajectory to add

Exceptions

invalid_argument if eeName is not defined in contact for this phase

Returns: false if a trajectory already existed (and have been overwrited) true otherwise

◆ addContactNormalForceTrajectory()

template<typename _Scalar >

bool multicontact_api::scenario::ContactPhaseTpl< _Scalar >::addContactNormalForceTrajectory	(	const std::string &	eeName,
		const curve_ptr	trajectory
	)

inline

addContactNormalForceTrajectory add a trajectory to the map of contact normal forces. If a trajectory already exist for this effector, it is overwritted.

Parameters

eeName	the name of the effector (key of the map)
trajectory	the trajectory to add

Exceptions

invalid_argument	if eeName is not defined in contact for this phase
invalid_argument	if trajectory is not of dimension 1

Returns: false if a trajectory already existed (and have been overwrited) true otherwise

◆ addEffectorTrajectory()

template<typename _Scalar >

bool multicontact_api::scenario::ContactPhaseTpl< _Scalar >::addEffectorTrajectory	(	const std::string &	eeName,
		const curve_SE3_ptr	trajectory
	)

inline

adEffectorTrajectory add a trajectory to the map of contact forces. If a trajectory already exist for this effector, it is overwritted.

Parameters

eeName	the name of the effector (key of the map)
trajectory	the trajectory to add

Exceptions

invalid_argument if eeName is defined in contact for this phase

Returns: false if a trajectory already existed (and have been overwrited) true otherwise

◆ contactForces() [1/2]

template<typename _Scalar >

CurveMap_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::contactForces ( ) const

inline

◆ contactForces() [2/2]

template<typename _Scalar >

curve_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::contactForces ( const std::string & eeName )

inline

◆ contactNormalForces() [1/2]

template<typename _Scalar >

CurveMap_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::contactNormalForces ( ) const

inline

◆ contactNormalForces() [2/2]

template<typename _Scalar >

curve_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::contactNormalForces ( const std::string & eeName )

inline

◆ contactPatch()

template<typename _Scalar >

ContactPatch & multicontact_api::scenario::ContactPhaseTpl< _Scalar >::contactPatch ( const std::string & eeName )

inline

◆ contactPatches()

template<typename _Scalar >

ContactPatchMap multicontact_api::scenario::ContactPhaseTpl< _Scalar >::contactPatches ( ) const

inline

◆ disp()

template<typename _Scalar >

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

inline

◆ duration() [1/2]

template<typename _Scalar >

Scalar multicontact_api::scenario::ContactPhaseTpl< _Scalar >::duration ( ) const

inline

◆ duration() [2/2]

template<typename _Scalar >

void multicontact_api::scenario::ContactPhaseTpl< _Scalar >::duration ( const Scalar d )

inline

◆ effectorHaveAtrajectory()

template<typename _Scalar >

bool multicontact_api::scenario::ContactPhaseTpl< _Scalar >::effectorHaveAtrajectory ( const std::string & eeName ) const

inline

effectorHaveAtrajectory check if an end effector trajectory have been defined for a given effector

Parameters

eeName the effector name

Returns: true if there is a trajectory defined, false otherwise

◆ effectorsInContact()

template<typename _Scalar >

t_strings multicontact_api::scenario::ContactPhaseTpl< _Scalar >::effectorsInContact ( ) const

inline

◆ effectorsWithTrajectory()

template<typename _Scalar >

t_strings multicontact_api::scenario::ContactPhaseTpl< _Scalar >::effectorsWithTrajectory ( ) const

inline

effectorsWithTrajectory return a set of all effectors for which an effector trajectory have been defined

Returns: a set of all effectors for which an effector trajectory have been defined

◆ effectorTrajectories() [1/2]

template<typename _Scalar >

CurveSE3Map_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::effectorTrajectories ( ) const

inline

◆ effectorTrajectories() [2/2]

template<typename _Scalar >

curve_SE3_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::effectorTrajectories ( const std::string & eeName )

inline

◆ getContactsBroken()

template<typename _Scalar >

t_strings multicontact_api::scenario::ContactPhaseTpl< _Scalar >::getContactsBroken ( const ContactPhase & to ) const

inline

getContactsBroken return the list of effectors in contact in '*this' but not in contact in 'to'

Parameters

to	the other ContactPhase

Returns: a list of string containing the effectors names

◆ getContactsCreated()

template<typename _Scalar >

t_strings multicontact_api::scenario::ContactPhaseTpl< _Scalar >::getContactsCreated ( const ContactPhase & to ) const

inline

getContactsCreated return the list of effectors in contact in 'to' but not in contact in '*this'

Parameters

to	the other ContactPhase

Returns: a list of string containing the effectors names

◆ getContactsRepositioned()

template<typename _Scalar >

t_strings multicontact_api::scenario::ContactPhaseTpl< _Scalar >::getContactsRepositioned ( const ContactPhase & to ) const

inline

getContactsRepositioned return the list of effectors in contact both in 'to' and '*this' but not at the same placement

Parameters

to	the other ContactPhase

Returns: a list of string containing the effectors names

◆ getContactsVariations()

template<typename _Scalar >

t_strings multicontact_api::scenario::ContactPhaseTpl< _Scalar >::getContactsVariations ( const ContactPhase & to ) const

inline

getContactsVariations return the list of all the effectors whose contacts differ between *this and to

Parameters

to	the other ContactPhase

Returns: a list of string containing the effectors names

◆ isConsistent()

template<typename _Scalar >

bool multicontact_api::scenario::ContactPhaseTpl< _Scalar >::isConsistent ( const bool throw_if_inconsistent = false ) const

inline

isConsistent check if all the members of the phase are consistent together:

There is a contact patch defined for all effector in contact
There is only contact forces for the effector defined in contact
If a trajectory is defined, it is defined between t_begin and t_final
If init/end values are defined and a trajectory for this values is also defined, check that they match
The times are positives and tbegin <= tmax
Parameters

throw_if_inconsistent if true, throw an runtime_error if not consistent

Returns
true if consistent, false otherwise

◆ isEffectorInContact()

template<typename _Scalar >

bool multicontact_api::scenario::ContactPhaseTpl< _Scalar >::isEffectorInContact ( const std::string & eeName ) const

inline

◆ numContacts()

template<typename _Scalar >

std::size_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::numContacts ( ) const

inline

◆ operator!=()

template<typename _Scalar >

template<typename S2 >

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

inline

◆ operator==()

template<typename _Scalar >

template<typename S2 >

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

inline

◆ removeContact()

template<typename _Scalar >

bool multicontact_api::scenario::ContactPhaseTpl< _Scalar >::removeContact ( const std::string & eeName )

inline

removeContact remove the given contact This will also remove the contact_patch all the contact_forces and contact_normal_forces related to this contact

Parameters

eeName the name of the effector to remove

Returns: true if the effector was in contact, false otherwise

◆ setAMtrajectoryFromPoints()

template<typename _Scalar >

void multicontact_api::scenario::ContactPhaseTpl< _Scalar >::setAMtrajectoryFromPoints	(	const t_pointX_t &	points,
		const t_pointX_t &	points_derivative,
		const t_time_t &	time_points
	)

inline

setAMtrajectoryFromPoints set the L and d_L curves from a list of discrete Angular velocity values and their derivatives The trajectories are build with first order polynomials connecting each discrete points given. This method also set the initial/final values for L, and dL from the first and last discrete point given.

Parameters

points	list of discrete Angular Momentum values
points_derivative	list of discrete Angular momentum derivative
time_points	list of times corresponding to each discrete point given.

◆ setCOMtrajectoryFromPoints()

template<typename _Scalar >

void multicontact_api::scenario::ContactPhaseTpl< _Scalar >::setCOMtrajectoryFromPoints	(	const t_pointX_t &	points,
		const t_pointX_t &	points_derivative,
		const t_pointX_t &	points_second_derivative,
		const t_time_t &	time_points
	)

inline

setCOMtrajectoryFromPoints set the c,dc and ddc curves from a list of discrete COM positions, velocity and accelerations. The trajectories are build with first order polynomials connecting each discrete points given. this method also set the initial/final values for c, dc and ddc from the first and last discrete point given.

Parameters

points	list of discrete CoM positions
points_derivative	list of discrete CoM velocities
points_second_derivative	list of discrete CoM accelerations
time_points	list of times corresponding to each discrete point given.

◆ setJointsTrajectoryFromPoints()

template<typename _Scalar >

void multicontact_api::scenario::ContactPhaseTpl< _Scalar >::setJointsTrajectoryFromPoints	(	const t_pointX_t &	points,
		const t_pointX_t &	points_derivative,
		const t_pointX_t &	points_second_derivative,
		const t_time_t &	time_points
	)

inline

setJointsTrajectoryFromPoints set the q,dq and ddq curves from a list of discrete joints positions, velocity and accelerations. The trajectories are build with first order polynomials connecting each discrete points given. This method also set initial/final values for q from the first and last discrete point given.

Parameters

points	list of discrete joints positions
points_derivative	list of discrete joints velocities
points_second_derivative	list of discrete joints accelerations
time_points	list of times corresponding to each discrete point given.

◆ timeFinal() [1/2]

template<typename _Scalar >

Scalar multicontact_api::scenario::ContactPhaseTpl< _Scalar >::timeFinal ( ) const

inline

◆ timeFinal() [2/2]

template<typename _Scalar >

void multicontact_api::scenario::ContactPhaseTpl< _Scalar >::timeFinal ( const Scalar t )

inline

◆ timeInitial() [1/2]

template<typename _Scalar >

Scalar multicontact_api::scenario::ContactPhaseTpl< _Scalar >::timeInitial ( ) const

inline

◆ timeInitial() [2/2]

template<typename _Scalar >

void multicontact_api::scenario::ContactPhaseTpl< _Scalar >::timeInitial ( const Scalar t )

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 ContactPhaseTpl< S2 > &	cp
	)

friend

Member Data Documentation

◆ m_c

template<typename _Scalar >

curve_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_c

trajectory for the center of mass position

◆ m_c_final

template<typename _Scalar >

point3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_c_final

Final position of the center of mass for this contact phase.

◆ m_c_init

template<typename _Scalar >

point3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_c_init

Initial position of the center of mass for this contact phase.

◆ m_contact_forces

template<typename _Scalar >

CurveMap_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_contact_forces

protected

map with keys : effector name containing the contact forces

◆ m_contact_normal_force

template<typename _Scalar >

CurveMap_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_contact_normal_force

protected

map with keys : effector name containing the contact normal force

◆ m_contact_patches

template<typename _Scalar >

ContactPatchMap multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_contact_patches

protected

map effector name : contact patches. All the patches are actives

◆ m_dc

template<typename _Scalar >

curve_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_dc

trajectory for the center of mass velocity

◆ m_dc_final

template<typename _Scalar >

point3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_dc_final

Final velocity of the center of mass for this contact phase.

◆ m_dc_init

template<typename _Scalar >

point3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_dc_init

Initial velocity of the center of mass for this contact phase.

◆ m_ddc

template<typename _Scalar >

curve_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_ddc

trajectory for the center of mass acceleration

◆ m_ddc_final

template<typename _Scalar >

point3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_ddc_final

Final acceleration of the center of mass for this contact phase.

◆ m_ddc_init

template<typename _Scalar >

point3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_ddc_init

Initial acceleration of the center of mass for this contact phase.

◆ m_ddq

template<typename _Scalar >

curve_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_ddq

trajectory for the joint accelerations

◆ m_dL

template<typename _Scalar >

curve_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_dL

trajectory for the angular momentum derivative

◆ m_dL_final

template<typename _Scalar >

point3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_dL_final

Final angular momentum derivative for this contact phase.

◆ m_dL_init

template<typename _Scalar >

point3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_dL_init

Initial angular momentum derivative for this contact phase.

◆ m_dq

template<typename _Scalar >

curve_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_dq

trajectory for the joint velocities

◆ m_effector_in_contact

template<typename _Scalar >

t_strings multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_effector_in_contact

protected

set of the name of all effector in contact for this phase

◆ m_effector_trajectories

template<typename _Scalar >

CurveSE3Map_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_effector_trajectories

protected

map with keys : effector name containing the end effector trajectory

◆ m_L

template<typename _Scalar >

curve_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_L

trajectory for the angular momentum

◆ m_L_final

template<typename _Scalar >

point3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_L_final

Final angular momentum for this contact phase.

◆ m_L_init

template<typename _Scalar >

point3_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_L_init

Initial angular momentum for this contact phase.

◆ m_q

template<typename _Scalar >

curve_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_q

trajectory for the joint positions

◆ m_q_final

template<typename _Scalar >

pointX_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_q_final

Final whole body configuration of this phase.

◆ m_q_init

template<typename _Scalar >

pointX_t multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_q_init

Initial whole body configuration of this phase.

◆ m_root

template<typename _Scalar >

curve_SE3_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_root

SE3 trajectory of the root of the robot.

◆ m_t_final

template<typename _Scalar >

Scalar multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_t_final

protected

time at the end of the contact phase

◆ m_t_init

template<typename _Scalar >

Scalar multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_t_init

protected

time at the beginning of the contact phase

◆ m_tau

template<typename _Scalar >

curve_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_tau

trajectory for the joint torques

◆ m_wrench

template<typename _Scalar >

curve_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_wrench

trajectory for the centroidal wrench

◆ m_zmp

template<typename _Scalar >

curve_ptr multicontact_api::scenario::ContactPhaseTpl< _Scalar >::m_zmp

trajectory for the zmp

◆ Scalar

template<typename _Scalar >

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

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

include/multicontact-api/scenario/contact-phase.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Friends

Member Typedef Documentation

◆ ContactPatch

◆ ContactPatchMap

◆ curve_ptr

◆ curve_SE3_ptr

◆ curve_SE3_t

◆ curve_t

◆ CurveMap_t

◆ CurveSE3Map_t

◆ piecewise3_t

◆ piecewise_t

◆ point3_t

◆ point6_t

◆ pointX_t

◆ SE3

◆ t_point3_t

◆ t_pointX_t

◆ t_strings

◆ t_time_t

◆ transform_t

Constructor & Destructor Documentation

◆ ContactPhaseTpl() [1/3]

◆ ContactPhaseTpl() [2/3]

◆ ContactPhaseTpl() [3/3]

Member Function Documentation

◆ addContact()

◆ addContactForceTrajectory()

◆ addContactNormalForceTrajectory()

◆ addEffectorTrajectory()

◆ contactForces() [1/2]

◆ contactForces() [2/2]

◆ contactNormalForces() [1/2]

◆ contactNormalForces() [2/2]

◆ contactPatch()

◆ contactPatches()

◆ disp()

◆ duration() [1/2]

◆ duration() [2/2]

◆ effectorHaveAtrajectory()

◆ effectorsInContact()

◆ effectorsWithTrajectory()

◆ effectorTrajectories() [1/2]

◆ effectorTrajectories() [2/2]

◆ getContactsBroken()

◆ getContactsCreated()

◆ getContactsRepositioned()

◆ getContactsVariations()

◆ isConsistent()

◆ isEffectorInContact()

◆ numContacts()

◆ operator!=()

◆ operator==()

◆ removeContact()

◆ setAMtrajectoryFromPoints()

◆ setCOMtrajectoryFromPoints()

◆ setJointsTrajectoryFromPoints()

◆ timeFinal() [1/2]

◆ timeFinal() [2/2]

◆ timeInitial() [1/2]

◆ timeInitial() [2/2]

Friends And Related Symbol Documentation

◆ boost::serialization::access

◆ operator<<

Member Data Documentation

◆ m_c

◆ m_c_final

◆ m_c_init

◆ m_contact_forces

◆ m_contact_normal_force

◆ m_contact_patches

◆ m_dc

◆ m_dc_final

◆ m_dc_init

◆ m_ddc

◆ m_ddc_final