#include <pinocchio/algorithm/constraints/coulomb-friction-cone.hpp>

Public Types
typedef DualCoulombFrictionConeTpl< Scalar >	DualCone

typedef _Scalar	Scalar

typedef Eigen::Matrix< Scalar, 3, 1 >	Vector3

Public Member Functions
	CoulombFrictionConeTpl (const CoulombFrictionConeTpl &other)=default
	Copy constructor.

	CoulombFrictionConeTpl (const Scalar mu)
	Default constructor.

template<typename Vector3Like1 , typename Vector3Like2 >
Scalar	computeConicComplementarity (const Eigen::MatrixBase< Vector3Like1 > &v, const Eigen::MatrixBase< Vector3Like2 > &f) const

template<typename Vector3Like1 , typename Vector3Like2 >
Scalar	computeContactComplementarity (const Eigen::MatrixBase< Vector3Like1 > &v, const Eigen::MatrixBase< Vector3Like2 > &f) const

template<typename Vector3Like >
Vector3Like	computeNormalCorrection (const Eigen::MatrixBase< Vector3Like > &v) const
	Compute the complementary shift associted to the Coulomb friction cone for complementarity satisfaction in complementary problems.

template<typename Vector3Like >
Vector3Like	computeRadialProjection (const Eigen::MatrixBase< Vector3Like > &f) const
	Compute the radial projection associted to the Coulomb friction cone.

DualCone	dual () const
	Returns the dual cone associated to this.

template<typename Vector3Like >
bool	isInside (const Eigen::MatrixBase< Vector3Like > &f, const Scalar prec=Scalar(0)) const
	Check whether a vector x lies within the cone.

bool	operator!= (const CoulombFrictionConeTpl &other) const
	Difference operator.

CoulombFrictionConeTpl &	operator= (const CoulombFrictionConeTpl &other)=default
	Copy operator.

bool	operator== (const CoulombFrictionConeTpl &other) const
	Comparison operator.

template<typename Vector3Like >
Vector3Like	project (const Eigen::MatrixBase< Vector3Like > &x) const
	Project a vector x onto the cone.

template<typename Vector3Like >
Vector3Like	weightedProject (const Eigen::MatrixBase< Vector3Like > &x, const Eigen::MatrixBase< Vector3Like > &R) const
	Project a vector x onto the cone with a matric specified by the diagonal matrix R.

Static Public Member Functions
static int	dim ()
	Returns the dimension of the cone.

Public Attributes
Scalar	mu

Detailed Description

template<typename _Scalar>
struct pinocchio::CoulombFrictionConeTpl< _Scalar >

3d Coulomb friction cone.

Definition at line 20 of file coulomb-friction-cone.hpp.

Member Typedef Documentation

◆ DualCone

template<typename _Scalar >

typedef DualCoulombFrictionConeTpl<Scalar> DualCone

Definition at line 23 of file coulomb-friction-cone.hpp.

◆ Scalar

template<typename _Scalar >

typedef _Scalar Scalar

Definition at line 22 of file coulomb-friction-cone.hpp.

◆ Vector3

template<typename _Scalar >

typedef Eigen::Matrix<Scalar, 3, 1> Vector3

Definition at line 24 of file coulomb-friction-cone.hpp.

Constructor & Destructor Documentation

◆ CoulombFrictionConeTpl()

template<typename _Scalar >

CoulombFrictionConeTpl ( const Scalar mu )

inlineexplicit

Default constructor.

Parameters

[in] mu Friction coefficient

Definition at line 29 of file coulomb-friction-cone.hpp.

Member Function Documentation

◆ computeConicComplementarity()

template<typename _Scalar >

template<typename Vector3Like1 , typename Vector3Like2 >

Scalar computeConicComplementarity	(	const Eigen::MatrixBase< Vector3Like1 > &	v,
		const Eigen::MatrixBase< Vector3Like2 > &	f
	)		const

inline

Definition at line 178 of file coulomb-friction-cone.hpp.

◆ computeContactComplementarity()

template<typename _Scalar >

template<typename Vector3Like1 , typename Vector3Like2 >

Scalar computeContactComplementarity	(	const Eigen::MatrixBase< Vector3Like1 > &	v,
		const Eigen::MatrixBase< Vector3Like2 > &	f
	)		const

inline

Definition at line 170 of file coulomb-friction-cone.hpp.

◆ computeNormalCorrection()

template<typename _Scalar >

template<typename Vector3Like >

Vector3Like computeNormalCorrection ( const Eigen::MatrixBase< Vector3Like > & v ) const

inline

Compute the complementary shift associted to the Coulomb friction cone for complementarity satisfaction in complementary problems.

Parameters

[in] v a dual vector.

Definition at line 130 of file coulomb-friction-cone.hpp.

◆ computeRadialProjection()

template<typename _Scalar >

template<typename Vector3Like >

Vector3Like computeRadialProjection ( const Eigen::MatrixBase< Vector3Like > & f ) const

inline

Compute the radial projection associted to the Coulomb friction cone.

Parameters

[in] f a force vector.

Definition at line 148 of file coulomb-friction-cone.hpp.

◆ dim()

template<typename _Scalar >

static int dim ( )

inlinestatic

Returns the dimension of the cone.

Definition at line 191 of file coulomb-friction-cone.hpp.

◆ dual()

template<typename _Scalar >

DualCone dual ( ) const

inline

Returns the dual cone associated to this.

Definition at line 185 of file coulomb-friction-cone.hpp.

◆ isInside()

template<typename _Scalar >

template<typename Vector3Like >

bool isInside	(	const Eigen::MatrixBase< Vector3Like > &	f,
		const Scalar	prec = `Scalar(0)`
	)		const

inline

Check whether a vector x lies within the cone.

Parameters

[in] f vector to check (assimilated to a force vector).

Definition at line 58 of file coulomb-friction-cone.hpp.

◆ operator!=()

template<typename _Scalar >

bool operator!= ( const CoulombFrictionConeTpl< _Scalar > & other ) const

inline

Difference operator.

Definition at line 48 of file coulomb-friction-cone.hpp.

◆ operator==()

template<typename _Scalar >

bool operator== ( const CoulombFrictionConeTpl< _Scalar > & other ) const

inline

Comparison operator.

Definition at line 42 of file coulomb-friction-cone.hpp.

◆ project()

template<typename _Scalar >

template<typename Vector3Like >

Vector3Like project ( const Eigen::MatrixBase< Vector3Like > & x ) const

inline

Project a vector x onto the cone.

Parameters

[in] x a 3d vector to project.

Definition at line 72 of file coulomb-friction-cone.hpp.

◆ weightedProject()

template<typename _Scalar >

template<typename Vector3Like >

Vector3Like weightedProject	(	const Eigen::MatrixBase< Vector3Like > &	x,
		const Eigen::MatrixBase< Vector3Like > &	R
	)		const

inline

Project a vector x onto the cone with a matric specified by the diagonal matrix R.

Parameters

[in]	x	a 3d vector to project.
[in]	R	a 3d vector representing the diagonal of the weights matrix. The tangential components (the first two) of R should be equal.

Definition at line 108 of file coulomb-friction-cone.hpp.

Member Data Documentation

◆ mu

template<typename _Scalar >

Scalar mu

Definition at line 197 of file coulomb-friction-cone.hpp.

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

include/pinocchio/algorithm/constraints/coulomb-friction-cone.hpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ DualCone

◆ Scalar

◆ Vector3

Constructor & Destructor Documentation

◆ CoulombFrictionConeTpl()

Member Function Documentation

◆ computeConicComplementarity()

◆ computeContactComplementarity()

◆ computeNormalCorrection()

◆ computeRadialProjection()

◆ dim()

◆ dual()

◆ isInside()

◆ operator!=()

◆ operator==()

◆ project()

◆ weightedProject()

Member Data Documentation

◆ mu