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

Inheritance diagram for multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >:

Collaboration diagram for multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >:

Public Types
typedef ContactPhase::Scalar	Scalar

typedef ContactPhase::t_strings	t_strings

typedef ContactPhase::SE3	SE3

typedef std::vector< ContactPhase >	ContactPhaseVector

typedef ndcurves::pointX_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 std::shared_ptr< curve_t >	curve_ptr

typedef std::shared_ptr< curve_SE3_t >	curve_SE3_ptr

typedef ndcurves::piecewise_t	piecewise_t

typedef ndcurves::piecewise_SE3_t	piecewise_SE3_t

typedef ndcurves::SE3Curve_t	SE3Curve_t

typedef ndcurves::polynomial_t	polynomial_t

Public Member Functions
	ContactSequenceTpl (const size_t size=0)

	ContactSequenceTpl (const ContactSequenceTpl &other)
	Copy contructor.

size_t	size () const

bool	operator== (const ContactSequenceTpl &other) const

bool	operator!= (const ContactSequenceTpl &other) const

void	resize (const size_t size)

size_t	append (const ContactPhase &contactPhase)
	append Add the given Phase at the end of the sequence

const ContactPhaseVector	contactPhases () const
	contactPhases return a Const copy of the contact phase vector in this sequence. Prefer accessing the contact phases through the contactPhase(id) as this one create a copy

ContactPhase &	contactPhase (const size_t id)
	contactPhase return a reference to the contactPhase stored at the given Id

void	removePhase (const size_t id)
	removePhase remove the given contactPhase from the sequence

void	breakContact (const std::string &eeName, const double phaseDuration=-1)
	breakContact Add a new contactPhase at the end of the current ContactSequence, The new ContactPhase have the same ContactPatchs as the last phase of the sequence, with the exeption of the given contact removed. It copy all the 'final' values of the last phase as 'initial' values of the new phase. It also set the duration of the previous last phase.

void	createContact (const std::string &eeName, const ContactPatch &patch, const double phaseDuration=-1)
	createContact Add a new contactPhase at the end of the current ContactSequence, The new ContactPhase have the same ContactPatchs as the last phase of the sequence, with the exeption of the given contact added.

void	moveEffectorToPlacement (const std::string &eeName, const ContactPatch::SE3 &placement, const double durationBreak=-1, const double durationCreate=-1)
	moveEffectorToPlacement Add two new phases at the end of the current ContactSequence,

void	moveEffectorOf (const std::string &eeName, const ContactPatch::SE3 &transform, const double durationBreak=-1, const double durationCreate=-1)
	moveEffectorOf similar to moveEffectorToPlacement exept that the new placement is defined from the previous placement and a given transform applied.

bool	haveTimings () const
	haveTimings Check if all the time intervals are defined and consistent (ie. the time always increase and the final time of one phase is equal to the initial one of the newt phase)

bool	haveConsistentContacts () const
	haveConsistentContacts check that there is always one contact change between adjacent phases in the sequence and that there isn't any phase without any contact.

bool	haveCOMvalues () const
	haveCOMvalues Check that the initial and final CoM position values are defined for all phases Also check that the initial values of one phase correspond to the final values of the previous ones.

bool	haveAMvalues () const
	haveAMvalues Check that the initial and final AM values are defined for all phases Also check that the initial values of one phase correspond to the final values of the previous ones.

bool	haveCentroidalValues () const
	haveCentroidalValues Check that the initial and final CoM position and AM values are defined for all phases Also check that the initial values of one phase correspond to the final values of the previous ones.

bool	haveConfigurationsValues () const
	haveConfigurationsValues Check that the initial and final configuration are defined for all phases Also check that the initial values of one phase correspond to the final values of the previous ones.

bool	haveCOMtrajectories () const
	haveCOMtrajectories check that a c, dc and ddc trajectories are defined for each phases Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

bool	haveAMtrajectories () const
	haveAMtrajectories check that a L and dL trajectories are defined for each phases Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

bool	haveCentroidalTrajectories () const
	haveCentroidalTrajectories check that all centroidal trajectories are defined for each phases Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

bool	haveEffectorsTrajectories (const Scalar prec=Eigen::NumTraits< Scalar >::dummy_precision(), const bool use_rotation=true) const
	haveEffectorsTrajectories check that for each phase preceeding a contact creation, an SE3 trajectory is defined for the effector that will be in contact. Also check that this trajectory is defined on the time-interval of the phase. Also check that the trajectory correctly end at the placement defined for the contact in the next phase. If this effector was in contact in the previous phase, it check that the trajectory start at the previous contact placement.

bool	haveJointsTrajectories () const
	haveJointsTrajectories Check that a q trajectory is defined for each phases Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

bool	haveJointsDerivativesTrajectories () const
	haveJointsDerivativesTrajectories Check that a dq and ddq trajectories are defined for each phases Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

bool	haveTorquesTrajectories () const
	haveJointsTrajectories Check that a joint torque trajectories are defined for each phases Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

bool	haveContactForcesTrajectories () const
	haveJointsTrajectories Check that a contact force trajectory exist for each active contact Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

bool	haveRootTrajectories () const
	haveRootTrajectories check that a root trajectory exist for each contact phases. Also check that it start and end at the correct time interval

bool	haveFriction () const
	haveFriction check that all the contact patch used in the sequence have a friction coefficient initialized

bool	haveContactModelDefined () const
	haveContactModelDefined check that all the contact patch have a contact_model defined

bool	haveZMPtrajectories ()
	haveZMPtrajectories check that all the contact phases have a zmp trajectory

t_strings	getAllEffectorsInContact () const
	getAllEffectorsInContact return a vector of names of all the effectors used to create contacts during the sequence

piecewise_t	concatenateCtrajectories () const
	concatenateCtrajectories Return a piecewise curve which is the concatenation of the m_c curves for each contact phases in the sequence.

piecewise_t	concatenateDCtrajectories () const
	concatenateDCtrajectories Return a piecewise curve which is the concatenation of the m_dc curves for each contact phases in the sequence.

piecewise_t	concatenateDDCtrajectories () const
	concatenateDDCtrajectories Return a piecewise curve which is the concatenation of the m_ddc curves for each contact phases in the sequence.

piecewise_t	concatenateLtrajectories () const
	concatenateLtrajectories Return a piecewise curve which is the concatenation of the m_L curves for each contact phases in the sequence.

piecewise_t	concatenateDLtrajectories () const
	concatenateDLtrajectories Return a piecewise curve which is the concatenation of the m_dL curves for each contact phases in the sequence.

piecewise_t	concatenateZMPtrajectories () const
	concatenateZMPtrajectories Return a piecewise curve which is the concatenation of the m_zmp curves for each contact phases in the sequence.

piecewise_t	concatenateWrenchTrajectories () const
	concatenateWrenchTrajectories Return a piecewise curve which is the concatenation of the m_wrench curves for each contact phases in the sequence.

piecewise_t	concatenateQtrajectories () const
	concatenateQtrajectories Return a piecewise curve which is the concatenation of the m_q curves for each contact phases in the sequence.

piecewise_t	concatenateDQtrajectories () const
	concatenateDQtrajectories Return a piecewise curve which is the concatenation of the m_dq curves for each contact phases in the sequence.

piecewise_t	concatenateDDQtrajectories () const
	concatenateDDQtrajectories Return a piecewise curve which is the concatenation of the m_ddq curves for each contact phases in the sequence.

piecewise_t	concatenateTauTrajectories () const
	concatenateTauTrajectories Return a piecewise curve which is the concatenation of the m_tau curves for each contact phases in the sequence.

piecewise_SE3_t	concatenateRootTrajectories () const
	concatenateRootTrajectories Return a piecewise curve which is the concatenation of the m_root curves for each contact phases in the sequence.

piecewise_SE3_t	concatenateEffectorTrajectories (const std::string &eeName) const
	concatenateEffectorTrajectories Return a piecewise curve which is the concatenation of the effectors trajectories curves for the given effector for each contact phases in the sequence. During the phases where no effector trajectories are defined, the trajectory is constant with the value of the last phase where it was defined.

piecewise_t	concatenateContactForceTrajectories (const std::string &eeName) const
	concatenateContactForceTrajectories Return a piecewise curve which is the concatenation of the contact forces for the given effector for each contact phases in the sequence. During the phases where no contact forces are defined, the trajectory is constant with the value of 0.

piecewise_t	concatenateNormalForceTrajectories (const std::string &eeName) const
	concatenateNormalForceTrajectories Return a piecewise curve which is the concatenation of the contact normal forces for the given effector for each contact phases in the sequence. During the phases where no contact normal forces are defined, the trajectory is constant with the value of 0.

ContactPhase &	phaseAtTime (const double time)
	phaseAtTime return a phase of the sequence such that : phase.timeInitial <= t < phase.timeFinal if t equal to the last phase timeFinal, this index is returned

int	phaseIdAtTime (const double time) const
	phaseIdAtTime return the index of a phase in the sequence such that : phase.timeInitial <= t < phase.timeFinal if t equal to the last phase timeFinal, this index is returned

Public Member Functions inherited from multicontact_api::serialization::Serializable< ContactSequenceTpl< _ContactPhase > >
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 _ContactPhase	ContactPhase

ContactPhaseVector	m_contact_phases

Friends
class	boost::serialization::access

Member Typedef Documentation

◆ ContactPhaseVector

template<class _ContactPhase >

typedef std::vector<ContactPhase> multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::ContactPhaseVector

◆ curve_ptr

template<class _ContactPhase >

typedef std::shared_ptr<curve_t> multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::curve_ptr

◆ curve_SE3_ptr

template<class _ContactPhase >

typedef std::shared_ptr<curve_SE3_t> multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::curve_SE3_ptr

◆ curve_SE3_t

template<class _ContactPhase >

typedef ndcurves::curve_SE3_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::curve_SE3_t

◆ curve_t

template<class _ContactPhase >

typedef ndcurves::curve_abc_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::curve_t

◆ piecewise_SE3_t

template<class _ContactPhase >

typedef ndcurves::piecewise_SE3_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::piecewise_SE3_t

◆ piecewise_t

template<class _ContactPhase >

typedef ndcurves::piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::piecewise_t

◆ pointX_t

template<class _ContactPhase >

typedef ndcurves::pointX_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::pointX_t

◆ polynomial_t

template<class _ContactPhase >

typedef ndcurves::polynomial_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::polynomial_t

◆ Scalar

template<class _ContactPhase >

typedef ContactPhase::Scalar multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::Scalar

◆ SE3

template<class _ContactPhase >

typedef ContactPhase::SE3 multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::SE3

◆ SE3Curve_t

template<class _ContactPhase >

typedef ndcurves::SE3Curve_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::SE3Curve_t

◆ t_strings

template<class _ContactPhase >

typedef ContactPhase::t_strings multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::t_strings

◆ transform_t

template<class _ContactPhase >

typedef ndcurves::transform_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::transform_t

Constructor & Destructor Documentation

◆ ContactSequenceTpl() [1/2]

template<class _ContactPhase >

multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::ContactSequenceTpl ( const size_t size = 0 )

inline

◆ ContactSequenceTpl() [2/2]

template<class _ContactPhase >

multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::ContactSequenceTpl ( const ContactSequenceTpl< _ContactPhase > & other )

inline

Copy contructor.

Member Function Documentation

◆ append()

template<class _ContactPhase >

size_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::append ( const ContactPhase & contactPhase )

inline

append Add the given Phase at the end of the sequence

Parameters

contactPhase the phase to end

Returns: The id of the phase added in the sequence

◆ breakContact()

template<class _ContactPhase >

void multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::breakContact	(	const std::string &	eeName,
		const double	phaseDuration = `-1`
	)

inline

breakContact Add a new contactPhase at the end of the current ContactSequence, The new ContactPhase have the same ContactPatchs as the last phase of the sequence, with the exeption of the given contact removed. It copy all the 'final' values of the last phase as 'initial' values of the new phase. It also set the duration of the previous last phase.

Parameters

eeName	the name of the effector to remove from contact
phaseDuration	if provided, the duration of the previous last phase of the sequence is set to this value (it is thus the duration BEFORE breaking the contact)

Exceptions

invalid_argument	if the phaseDuration is provided but the last phase do not have a time-range defined
invalid_argument	if eeName is not in contact in the last phase of the sequence

◆ concatenateContactForceTrajectories()

template<class _ContactPhase >

piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateContactForceTrajectories ( const std::string & eeName ) const

inline

concatenateContactForceTrajectories Return a piecewise curve which is the concatenation of the contact forces for the given effector for each contact phases in the sequence. During the phases where no contact forces are defined, the trajectory is constant with the value of 0.

Parameters

eeName the effector name

Returns

◆ concatenateCtrajectories()

template<class _ContactPhase >

piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateCtrajectories ( ) const

inline

concatenateCtrajectories Return a piecewise curve which is the concatenation of the m_c curves for each contact phases in the sequence.

Returns

◆ concatenateDCtrajectories()

template<class _ContactPhase >

piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateDCtrajectories ( ) const

inline

concatenateDCtrajectories Return a piecewise curve which is the concatenation of the m_dc curves for each contact phases in the sequence.

Returns

◆ concatenateDDCtrajectories()

template<class _ContactPhase >

piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateDDCtrajectories ( ) const

inline

concatenateDDCtrajectories Return a piecewise curve which is the concatenation of the m_ddc curves for each contact phases in the sequence.

Returns

◆ concatenateDDQtrajectories()

template<class _ContactPhase >

piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateDDQtrajectories ( ) const

inline

concatenateDDQtrajectories Return a piecewise curve which is the concatenation of the m_ddq curves for each contact phases in the sequence.

Returns

◆ concatenateDLtrajectories()

template<class _ContactPhase >

piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateDLtrajectories ( ) const

inline

concatenateDLtrajectories Return a piecewise curve which is the concatenation of the m_dL curves for each contact phases in the sequence.

Returns

◆ concatenateDQtrajectories()

template<class _ContactPhase >

piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateDQtrajectories ( ) const

inline

concatenateDQtrajectories Return a piecewise curve which is the concatenation of the m_dq curves for each contact phases in the sequence.

Returns

◆ concatenateEffectorTrajectories()

template<class _ContactPhase >

piecewise_SE3_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateEffectorTrajectories ( const std::string & eeName ) const

inline

concatenateEffectorTrajectories Return a piecewise curve which is the concatenation of the effectors trajectories curves for the given effector for each contact phases in the sequence. During the phases where no effector trajectories are defined, the trajectory is constant with the value of the last phase where it was defined.

Parameters

eeName the effector name

Returns

◆ concatenateLtrajectories()

template<class _ContactPhase >

piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateLtrajectories ( ) const

inline

concatenateLtrajectories Return a piecewise curve which is the concatenation of the m_L curves for each contact phases in the sequence.

Returns

◆ concatenateNormalForceTrajectories()

template<class _ContactPhase >

piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateNormalForceTrajectories ( const std::string & eeName ) const

inline

concatenateNormalForceTrajectories Return a piecewise curve which is the concatenation of the contact normal forces for the given effector for each contact phases in the sequence. During the phases where no contact normal forces are defined, the trajectory is constant with the value of 0.

Parameters

eeName the effector name

Returns

◆ concatenateQtrajectories()

template<class _ContactPhase >

piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateQtrajectories ( ) const

inline

concatenateQtrajectories Return a piecewise curve which is the concatenation of the m_q curves for each contact phases in the sequence.

Returns

◆ concatenateRootTrajectories()

template<class _ContactPhase >

piecewise_SE3_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateRootTrajectories ( ) const

inline

concatenateRootTrajectories Return a piecewise curve which is the concatenation of the m_root curves for each contact phases in the sequence.

Returns

◆ concatenateTauTrajectories()

template<class _ContactPhase >

piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateTauTrajectories ( ) const

inline

concatenateTauTrajectories Return a piecewise curve which is the concatenation of the m_tau curves for each contact phases in the sequence.

Returns

◆ concatenateWrenchTrajectories()

template<class _ContactPhase >

piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateWrenchTrajectories ( ) const

inline

concatenateWrenchTrajectories Return a piecewise curve which is the concatenation of the m_wrench curves for each contact phases in the sequence.

Returns

◆ concatenateZMPtrajectories()

template<class _ContactPhase >

piecewise_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::concatenateZMPtrajectories ( ) const

inline

concatenateZMPtrajectories Return a piecewise curve which is the concatenation of the m_zmp curves for each contact phases in the sequence.

Returns

◆ contactPhase()

template<class _ContactPhase >

ContactPhase & multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::contactPhase ( const size_t id )

inline

contactPhase return a reference to the contactPhase stored at the given Id

Parameters

id	the desired Id in the contact sequence

Returns: a reference to the ContactPhase

◆ contactPhases()

template<class _ContactPhase >

const ContactPhaseVector multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::contactPhases ( ) const

inline

contactPhases return a Const copy of the contact phase vector in this sequence. Prefer accessing the contact phases through the contactPhase(id) as this one create a copy

Returns: a Const copy of the contact phase vector in this sequence

◆ createContact()

template<class _ContactPhase >

void multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::createContact	(	const std::string &	eeName,
		const ContactPatch &	patch,
		const double	phaseDuration = `-1`
	)

inline

createContact Add a new contactPhase at the end of the current ContactSequence, The new ContactPhase have the same ContactPatchs as the last phase of the sequence, with the exeption of the given contact added.

Parameters

eeName	the name of the effector used to create contact
patch	the ContactPatch of the new contact
phaseDuration	if provided, the duration of the previous last phase of the sequence is set to this value (it is thus the duration BEFORE creating the contact)

Exceptions

invalid_argument	if the phaseDuration is provided but the last phase do not have a time-range defined
invalid_argument	if eeName is already in contact in the last phase of the sequence

◆ getAllEffectorsInContact()

template<class _ContactPhase >

t_strings multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::getAllEffectorsInContact ( ) const

inline

getAllEffectorsInContact return a vector of names of all the effectors used to create contacts during the sequence

Returns

◆ haveAMtrajectories()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveAMtrajectories ( ) const

inline

haveAMtrajectories check that a L and dL trajectories are defined for each phases Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

Returns

◆ haveAMvalues()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveAMvalues ( ) const

inline

haveAMvalues Check that the initial and final AM values are defined for all phases Also check that the initial values of one phase correspond to the final values of the previous ones.

Returns

◆ haveCentroidalTrajectories()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveCentroidalTrajectories ( ) const

inline

haveCentroidalTrajectories check that all centroidal trajectories are defined for each phases Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

Returns

◆ haveCentroidalValues()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveCentroidalValues ( ) const

inline

haveCentroidalValues Check that the initial and final CoM position and AM values are defined for all phases Also check that the initial values of one phase correspond to the final values of the previous ones.

Returns

◆ haveCOMtrajectories()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveCOMtrajectories ( ) const

inline

haveCOMtrajectories check that a c, dc and ddc trajectories are defined for each phases Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

Returns

◆ haveCOMvalues()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveCOMvalues ( ) const

inline

haveCOMvalues Check that the initial and final CoM position values are defined for all phases Also check that the initial values of one phase correspond to the final values of the previous ones.

Returns

◆ haveConfigurationsValues()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveConfigurationsValues ( ) const

inline

haveConfigurationsValues Check that the initial and final configuration are defined for all phases Also check that the initial values of one phase correspond to the final values of the previous ones.

Returns

◆ haveConsistentContacts()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveConsistentContacts ( ) const

inline

haveConsistentContacts check that there is always one contact change between adjacent phases in the sequence and that there isn't any phase without any contact.

Returns

◆ haveContactForcesTrajectories()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveContactForcesTrajectories ( ) const

inline

haveJointsTrajectories Check that a contact force trajectory exist for each active contact Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

Returns

◆ haveContactModelDefined()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveContactModelDefined ( ) const

inline

haveContactModelDefined check that all the contact patch have a contact_model defined

Returns

◆ haveEffectorsTrajectories()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveEffectorsTrajectories	(	const Scalar	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`,
		const bool	use_rotation = `true`
	)		const

inline

haveEffectorsTrajectories check that for each phase preceeding a contact creation, an SE3 trajectory is defined for the effector that will be in contact. Also check that this trajectory is defined on the time-interval of the phase. Also check that the trajectory correctly end at the placement defined for the contact in the next phase. If this effector was in contact in the previous phase, it check that the trajectory start at the previous contact placement.

Returns

◆ haveFriction()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveFriction ( ) const

inline

haveFriction check that all the contact patch used in the sequence have a friction coefficient initialized

Returns

◆ haveJointsDerivativesTrajectories()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveJointsDerivativesTrajectories ( ) const

inline

haveJointsDerivativesTrajectories Check that a dq and ddq trajectories are defined for each phases Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

Returns

◆ haveJointsTrajectories()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveJointsTrajectories ( ) const

inline

haveJointsTrajectories Check that a q trajectory is defined for each phases Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

Returns

◆ haveRootTrajectories()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveRootTrajectories ( ) const

inline

haveRootTrajectories check that a root trajectory exist for each contact phases. Also check that it start and end at the correct time interval

Returns

◆ haveTimings()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveTimings ( ) const

inline

haveTimings Check if all the time intervals are defined and consistent (ie. the time always increase and the final time of one phase is equal to the initial one of the newt phase)

Returns: true if the sequence is consistent, false otherwise

◆ haveTorquesTrajectories()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveTorquesTrajectories ( ) const

inline

haveJointsTrajectories Check that a joint torque trajectories are defined for each phases Also check that the time interval of this trajectories matches the one of the phase and that the trajectories start and end and the correct values defined in each phase

Returns

◆ haveZMPtrajectories()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::haveZMPtrajectories ( )

inline

haveZMPtrajectories check that all the contact phases have a zmp trajectory

Returns

◆ moveEffectorOf()

template<class _ContactPhase >

void multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::moveEffectorOf	(	const std::string &	eeName,
		const ContactPatch::SE3 &	transform,
		const double	durationBreak = `-1`,
		const double	durationCreate = `-1`
	)

inline

moveEffectorOf similar to moveEffectorToPlacement exept that the new placement is defined from the previous placement and a given transform applied.

Parameters

eeName	the name of the effector used to create contact
transform	the transform applied to the placement of the contact in the last phase of the sequence
durationBreak	the duration of the previous last phase of the sequence (it is thus the duration BEFORE breaking the contact)
durationCreate	the duration of the first new ContactPhase (it is thus the duration BEFORE creating the contact)

Exceptions

invalid_argument	if the phaseDuration is provided but the last phase do not have a time-range defined
invalid_argument	if eeName is not in contact in the last phase of the sequence

◆ moveEffectorToPlacement()

template<class _ContactPhase >

void multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::moveEffectorToPlacement	(	const std::string &	eeName,
		const ContactPatch::SE3 &	placement,
		const double	durationBreak = `-1`,
		const double	durationCreate = `-1`
	)

inline

moveEffectorToPlacement Add two new phases at the end of the current ContactSequence,

it break the contact with eeName

it create the contact with eeName at the given placement. It copy all the 'final' values of the last phase as 'initial' values of the new phase. It also set the duration of the previous last phase.

Parameters

eeName	the name of the effector used to create contact
placement	the new placement for the contact of eeName
durationBreak	the duration of the previous last phase of the sequence (it is thus the duration BEFORE breaking the contact)
durationCreate	the duration of the first new ContactPhase (it is thus the duration BEFORE creating the contact)

Exceptions

invalid_argument	if the phaseDuration is provided but the last phase do not have a time-range defined
invalid_argument	if eeName is not in contact in the last phase of the sequence

◆ operator!=()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::operator!= ( const ContactSequenceTpl< _ContactPhase > & other ) const

inline

◆ operator==()

template<class _ContactPhase >

bool multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::operator== ( const ContactSequenceTpl< _ContactPhase > & other ) const

inline

◆ phaseAtTime()

template<class _ContactPhase >

ContactPhase & multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::phaseAtTime ( const double time )

inline

phaseAtTime return a phase of the sequence such that : phase.timeInitial <= t < phase.timeFinal if t equal to the last phase timeFinal, this index is returned

Parameters

time

Returns: the phase whose time interval contains 'time'

Exceptions

invalid_argument error if no phase are found for this time

◆ phaseIdAtTime()

template<class _ContactPhase >

int multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::phaseIdAtTime ( const double time ) const

inline

phaseIdAtTime return the index of a phase in the sequence such that : phase.timeInitial <= t < phase.timeFinal if t equal to the last phase timeFinal, this index is returned

Parameters

time

Returns: the index of the phase whose time interval contain 'time', -1 if no phase are found

◆ removePhase()

template<class _ContactPhase >

void multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::removePhase ( const size_t id )

inline

removePhase remove the given contactPhase from the sequence

Parameters

id	the Id of the phase to remove

◆ resize()

template<class _ContactPhase >

void multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::resize ( const size_t size )

inline

◆ size()

template<class _ContactPhase >

size_t multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::size ( ) const

inline

Friends And Related Symbol Documentation

◆ boost::serialization::access

template<class _ContactPhase >

friend class boost::serialization::access

friend

Member Data Documentation

◆ ContactPhase

template<class _ContactPhase >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _ContactPhase multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::ContactPhase

◆ m_contact_phases

template<class _ContactPhase >

ContactPhaseVector multicontact_api::scenario::ContactSequenceTpl< _ContactPhase >::m_contact_phases

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

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

Public Types

Public Member Functions

Public Attributes

Friends

Member Typedef Documentation

◆ ContactPhaseVector

◆ curve_ptr

◆ curve_SE3_ptr

◆ curve_SE3_t

◆ curve_t

◆ piecewise_SE3_t

◆ piecewise_t

◆ pointX_t

◆ polynomial_t

◆ Scalar

◆ SE3

◆ SE3Curve_t

◆ t_strings

◆ transform_t

Constructor & Destructor Documentation

◆ ContactSequenceTpl() [1/2]

◆ ContactSequenceTpl() [2/2]

Member Function Documentation

◆ append()

◆ breakContact()

◆ concatenateContactForceTrajectories()

◆ concatenateCtrajectories()

◆ concatenateDCtrajectories()

◆ concatenateDDCtrajectories()

◆ concatenateDDQtrajectories()

◆ concatenateDLtrajectories()

◆ concatenateDQtrajectories()

◆ concatenateEffectorTrajectories()

◆ concatenateLtrajectories()

◆ concatenateNormalForceTrajectories()

◆ concatenateQtrajectories()

◆ concatenateRootTrajectories()

◆ concatenateTauTrajectories()

◆ concatenateWrenchTrajectories()

◆ concatenateZMPtrajectories()

◆ contactPhase()

◆ contactPhases()

◆ createContact()

◆ getAllEffectorsInContact()

◆ haveAMtrajectories()

◆ haveAMvalues()

◆ haveCentroidalTrajectories()

◆ haveCentroidalValues()

◆ haveCOMtrajectories()

◆ haveCOMvalues()

◆ haveConfigurationsValues()

◆ haveConsistentContacts()

◆ haveContactForcesTrajectories()

◆ haveContactModelDefined()

◆ haveEffectorsTrajectories()

◆ haveFriction()

◆ haveJointsDerivativesTrajectories()

◆ haveJointsTrajectories()

◆ haveRootTrajectories()

◆ haveTimings()

◆ haveTorquesTrajectories()

◆ haveZMPtrajectories()

◆ moveEffectorOf()

◆ moveEffectorToPlacement()

◆ operator!=()

◆ operator==()

◆ phaseAtTime()

◆ phaseIdAtTime()

◆ removePhase()

◆ resize()

◆ size()

Friends And Related Symbol Documentation

◆ boost::serialization::access

Member Data Documentation

◆ ContactPhase

◆ m_contact_phases