pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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DualCoulombFrictionConeTpl< _Scalar > Struct Template Reference

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

Public Types

typedef CoulombFrictionConeTpl< ScalarDualCone
 
typedef _Scalar Scalar
 

Public Member Functions

 DualCoulombFrictionConeTpl (const DualCoulombFrictionConeTpl &other)=default
 Copy constructor.
 
 DualCoulombFrictionConeTpl (const Scalar mu)
 Default constructor.
 
DualCone dual () const
 Returns the dual cone associated to this. ///.
 
template<typename Vector3Like >
bool isInside (const Eigen::MatrixBase< Vector3Like > &v, const Scalar prec=Scalar(0)) const
 Check whether a vector v lies within the cone.
 
bool operator!= (const DualCoulombFrictionConeTpl &other) const
 Difference operator.
 
DualCoulombFrictionConeTploperator= (const DualCoulombFrictionConeTpl &other)=default
 Copy operator.
 
bool operator== (const DualCoulombFrictionConeTpl &other) const
 Comparison operator.
 
template<typename Vector3Like >
Vector3Like project (const Eigen::MatrixBase< Vector3Like > &x) const
 Project a vector x onto the cone.
 

Static Public Member Functions

static int dim ()
 Returns the dimension of the cone.
 

Public Attributes

Scalar mu
 

Detailed Description

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

 

Dual of the 3d Coulomb friction cone.

Definition at line 202 of file coulomb-friction-cone.hpp.

Member Typedef Documentation

◆ DualCone

◆ Scalar

Definition at line 204 of file coulomb-friction-cone.hpp.

Constructor & Destructor Documentation

◆ DualCoulombFrictionConeTpl()

template<typename _Scalar >
DualCoulombFrictionConeTpl ( const Scalar  mu)
inlineexplicit

Default constructor.

Parameters
[in]muFriction coefficient

Definition at line 210 of file coulomb-friction-cone.hpp.

Member Function Documentation

◆ dim()

template<typename _Scalar >
static int dim ( )
inlinestatic

Returns the dimension of the cone.

Definition at line 278 of file coulomb-friction-cone.hpp.

◆ dual()

template<typename _Scalar >
DualCone dual ( ) const
inline

Returns the dual cone associated to this. ///.

Definition at line 284 of file coulomb-friction-cone.hpp.

◆ isInside()

template<typename _Scalar >
template<typename Vector3Like >
bool isInside ( const Eigen::MatrixBase< Vector3Like > &  v,
const Scalar  prec = Scalar(0) 
) const
inline

Check whether a vector v lies within the cone.

Parameters
[in]vvector to check (assimilated to a linear velocity).

Definition at line 239 of file coulomb-friction-cone.hpp.

◆ operator!=()

template<typename _Scalar >
bool operator!= ( const DualCoulombFrictionConeTpl< _Scalar > &  other) const
inline

Difference operator.

Definition at line 229 of file coulomb-friction-cone.hpp.

◆ operator==()

template<typename _Scalar >
bool operator== ( const DualCoulombFrictionConeTpl< _Scalar > &  other) const
inline

Comparison operator.

Definition at line 223 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.

Definition at line 249 of file coulomb-friction-cone.hpp.

Member Data Documentation

◆ mu

template<typename _Scalar >
Scalar mu

Definition at line 290 of file coulomb-friction-cone.hpp.


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