#include <sobec/crocomplements/contact/contact6d.hpp>

Inheritance diagram for sobec::newcontacts::ContactModel6DTpl< _Scalar >:

Collaboration diagram for sobec::newcontacts::ContactModel6DTpl< _Scalar >:

Public Types
typedef crocoddyl::MathBaseTpl< Scalar >	MathBase

typedef crocoddyl::ContactModel6DTpl< Scalar >	Base

typedef ContactData6DTpl< Scalar >	Data

typedef pinocchio::SE3Tpl< Scalar >	SE3

typedef crocoddyl::StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::Vector2s	Vector2s

typedef MathBase::Vector3s	Vector3s

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ContactModel6DTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &xref, const std::size_t nu, const Vector2s &gains=Vector2s::Zero(), const pinocchio::ReferenceFrame type=pinocchio::LOCAL)
	Initialize the 6d contact model. More...

	ContactModel6DTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &xref, const Vector2s &gains=Vector2s::Zero(), const pinocchio::ReferenceFrame type=pinocchio::LOCAL)
	Initialize the 6d contact model. More...

virtual	~ContactModel6DTpl ()

virtual void	calc (const boost::shared_ptr< crocoddyl::ContactDataAbstractTpl< Scalar >> &data, const Eigen::Ref< const VectorXs > &x)
	Compute the 6d contact Jacobian and drift. More...

virtual void	calcDiff (const boost::shared_ptr< crocoddyl::ContactDataAbstractTpl< Scalar >> &data, const Eigen::Ref< const VectorXs > &x)
	Compute the derivatives of the 6d contact holonomic constraint. More...

virtual void	updateForce (const boost::shared_ptr< crocoddyl::ContactDataAbstractTpl< Scalar >> &data, const VectorXs &force)
	Convert the force into a stack of spatial forces. More...

virtual boost::shared_ptr< crocoddyl::ContactDataAbstractTpl< Scalar > >	createData (pinocchio::DataTpl< Scalar > *const data)
	Create the 6d contact data. More...

const SE3 &	get_reference () const
	Return the reference frame translation. More...

const Vector2s &	get_gains () const
	Return the Baumgarte stabilization gains. More...

void	set_reference (const SE3 &reference)
	Modify the reference frame translation. More...

void	set_type (const pinocchio::ReferenceFrame type)
	Modify pinocchio::ReferenceFrame. More...

const pinocchio::ReferenceFrame &	get_type () const
	Get pinocchio::ReferenceFrame. More...

virtual void	print (std::ostream &os) const
	Print relevant information of the 6d contact model. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Member Typedef Documentation

◆ Base

template<typename _Scalar >

typedef crocoddyl::ContactModel6DTpl<Scalar> sobec::newcontacts::ContactModel6DTpl< _Scalar >::Base

◆ Data

template<typename _Scalar >

typedef ContactData6DTpl<Scalar> sobec::newcontacts::ContactModel6DTpl< _Scalar >::Data

◆ MathBase

template<typename _Scalar >

typedef crocoddyl::MathBaseTpl<Scalar> sobec::newcontacts::ContactModel6DTpl< _Scalar >::MathBase

◆ SE3

template<typename _Scalar >

typedef pinocchio::SE3Tpl<Scalar> sobec::newcontacts::ContactModel6DTpl< _Scalar >::SE3

◆ StateMultibody

template<typename _Scalar >

typedef crocoddyl::StateMultibodyTpl<Scalar> sobec::newcontacts::ContactModel6DTpl< _Scalar >::StateMultibody

◆ Vector2s

template<typename _Scalar >

typedef MathBase::Vector2s sobec::newcontacts::ContactModel6DTpl< _Scalar >::Vector2s

◆ Vector3s

template<typename _Scalar >

typedef MathBase::Vector3s sobec::newcontacts::ContactModel6DTpl< _Scalar >::Vector3s

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs sobec::newcontacts::ContactModel6DTpl< _Scalar >::VectorXs

Constructor & Destructor Documentation

◆ ContactModel6DTpl() [1/2]

template<typename Scalar >

sobec::newcontacts::ContactModel6DTpl< Scalar >::ContactModel6DTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const SE3 &	xref,
		const std::size_t	nu,
		const Vector2s &	gains = `Vector2s::Zero()`,
		const pinocchio::ReferenceFrame	type = `pinocchio::LOCAL`
	)

Initialize the 6d contact model.

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id of the contact
[in]	xref	Contact position used for the Baumgarte stabilization
[in]	nu	Dimension of the control vector
[in]	gains	Baumgarte stabilization gains

◆ ContactModel6DTpl() [2/2]

template<typename Scalar >

sobec::newcontacts::ContactModel6DTpl< Scalar >::ContactModel6DTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const SE3 &	xref,
		const Vector2s &	gains = `Vector2s::Zero()`,
		const pinocchio::ReferenceFrame	type = `pinocchio::LOCAL`
	)

Initialize the 6d contact model.

The default nu is obtained from StateAbstractTpl::get_nv().

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id of the contact
[in]	xref	Contact position used for the Baumgarte stabilization
[in]	gains	Baumgarte stabilization gains

◆ ~ContactModel6DTpl()

template<typename Scalar >

sobec::newcontacts::ContactModel6DTpl< Scalar >::~ContactModel6DTpl

virtual

Member Function Documentation

◆ calc()

template<typename Scalar >

void sobec::newcontacts::ContactModel6DTpl< Scalar >::calc	(	const boost::shared_ptr< crocoddyl::ContactDataAbstractTpl< Scalar >> &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

virtual

Compute the 6d contact Jacobian and drift.

Parameters

[in]	data	6d contact data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

◆ calcDiff()

template<typename Scalar >

void sobec::newcontacts::ContactModel6DTpl< Scalar >::calcDiff	(	const boost::shared_ptr< crocoddyl::ContactDataAbstractTpl< Scalar >> &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

virtual

Compute the derivatives of the 6d contact holonomic constraint.

Parameters

[in]	data	6d contact data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

◆ createData()

template<typename Scalar >

boost::shared_ptr< crocoddyl::ContactDataAbstractTpl< Scalar > > sobec::newcontacts::ContactModel6DTpl< Scalar >::createData ( pinocchio::DataTpl< Scalar > *const data )

virtual

Create the 6d contact data.

◆ get_gains()

template<typename Scalar >

const crocoddyl::MathBaseTpl< Scalar >::Vector2s & sobec::newcontacts::ContactModel6DTpl< Scalar >::get_gains

Return the Baumgarte stabilization gains.

◆ get_reference()

template<typename Scalar >

const pinocchio::SE3Tpl< Scalar > & sobec::newcontacts::ContactModel6DTpl< Scalar >::get_reference

Return the reference frame translation.

◆ get_type()

template<typename Scalar >

const pinocchio::ReferenceFrame & sobec::newcontacts::ContactModel6DTpl< Scalar >::get_type

Get pinocchio::ReferenceFrame.

◆ print()

template<typename Scalar >

void sobec::newcontacts::ContactModel6DTpl< Scalar >::print ( std::ostream & os ) const

virtual

Print relevant information of the 6d contact model.

Parameters

[out] os Output stream object

◆ set_reference()

template<typename Scalar >

void sobec::newcontacts::ContactModel6DTpl< Scalar >::set_reference ( const SE3 & reference )

Modify the reference frame translation.

◆ set_type()

template<typename Scalar >

void sobec::newcontacts::ContactModel6DTpl< Scalar >::set_type ( const pinocchio::ReferenceFrame type )

Modify pinocchio::ReferenceFrame.

◆ updateForce()

template<typename Scalar >

void sobec::newcontacts::ContactModel6DTpl< Scalar >::updateForce	(	const boost::shared_ptr< crocoddyl::ContactDataAbstractTpl< Scalar >> &	data,
		const VectorXs &	force
	)

virtual

Convert the force into a stack of spatial forces.

Parameters

[in]	data	6d contact data
[in]	force	6d force

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar sobec::newcontacts::ContactModel6DTpl< _Scalar >::Scalar

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

include/sobec/crocomplements/contact/contact6d.hpp
include/sobec/crocomplements/contact/contact6d.hxx

Public Types

Public Member Functions

Public Attributes

Member Typedef Documentation

◆ Base

◆ Data

◆ MathBase

◆ SE3

◆ StateMultibody

◆ Vector2s

◆ Vector3s

◆ VectorXs

Constructor & Destructor Documentation

◆ ContactModel6DTpl() [1/2]

◆ ContactModel6DTpl() [2/2]

◆ ~ContactModel6DTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ get_gains()

◆ get_reference()

◆ get_type()

◆ print()

◆ set_reference()

◆ set_type()

◆ updateForce()

Member Data Documentation

◆ Scalar