DualCoulombFrictionConeTpl< _Scalar > Struct Template Reference

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

Public Types
typedef CoulombFrictionConeTpl< Scalar >	DualCone
typedef _Scalar	Scalar

Public Member Functions
	DualCoulombFrictionConeTpl (const DualCoulombFrictionConeTpl &other)=default
	Copy constructor.
	DualCoulombFrictionConeTpl (const Scalar mu)
	Default constructor. More...
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. More...
bool	operator!= (const DualCoulombFrictionConeTpl &other) const
	Difference operator.
DualCoulombFrictionConeTpl &	operator= (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.

Constructor & Destructor Documentation

DualCoulombFrictionConeTpl()

DualCoulombFrictionConeTpl ( const Scalar  mu )

inlineexplicit

Default constructor.

Parameters

[in]

mu

Friction coefficient

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

Member Function Documentation

isInside()

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]

v

vector to check (assimilated to a linear velocity).

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

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

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