CoulombFrictionConeTpl< _Scalar > Struct Template Reference

  More...

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

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.

Constructor & Destructor Documentation

CoulombFrictionConeTpl()

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

computeNormalCorrection()

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()

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.

isInside()

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.

project()

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()

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.

---

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

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