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// Copyright (c) 2017 CNRS, NYU, MPI Tübingen |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#include "tsid/math/utils.hpp" |
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#include "tsid/contacts/contact-point.hpp" |
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#include <pinocchio/spatial/skew.hpp> |
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using namespace tsid; |
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using namespace contacts; |
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using namespace math; |
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using namespace trajectories; |
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using namespace tasks; |
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ContactPoint::ContactPoint(const std::string& name, RobotWrapper& robot, |
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const std::string& frameName, |
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ConstRefVector contactNormal, |
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const double frictionCoefficient, |
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const double minNormalForce, |
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const double maxNormalForce) |
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: ContactBase(name, robot), |
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m_motionTask(name, robot, frameName), |
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m_forceInequality(name, 5, 3), |
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m_forceRegTask(name, 3, 3), |
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m_contactNormal(contactNormal), |
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m_mu(frictionCoefficient), |
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m_fMin(minNormalForce), |
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m_fMax(maxNormalForce) { |
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m_weightForceRegTask << 1, 1, 1e-3; |
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m_forceGenMat.resize(3, 3); |
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m_fRef = Vector3::Zero(); |
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m_contactPoints.resize(3, 1); |
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m_contactPoints.setZero(); |
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updateForceGeneratorMatrix(); |
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updateForceInequalityConstraints(); |
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updateForceRegularizationTask(); |
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math::Vector motion_mask(6); |
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motion_mask << 1., 1., 1., 0., 0., 0.; |
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m_motionTask.setMask(motion_mask); |
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} |
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void ContactPoint::useLocalFrame(bool local_frame) { |
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m_motionTask.useLocalFrame(local_frame); |
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} |
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void ContactPoint::updateForceInequalityConstraints() { |
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Vector3 t1, t2; |
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const int n_in = 4 * 1 + 1; |
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const int n_var = 3 * 1; |
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Matrix B = Matrix::Zero(n_in, n_var); |
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Vector lb = -1e10 * Vector::Ones(n_in); |
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Vector ub = Vector::Zero(n_in); |
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t1 = m_contactNormal.cross(Vector3::UnitX()); |
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if (t1.norm() < 1e-5) t1 = m_contactNormal.cross(Vector3::UnitY()); |
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t2 = m_contactNormal.cross(t1); |
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t1.normalize(); |
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t2.normalize(); |
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B.block<1, 3>(0, 0) = (-t1 - m_mu * m_contactNormal).transpose(); |
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B.block<1, 3>(1, 0) = (t1 - m_mu * m_contactNormal).transpose(); |
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B.block<1, 3>(2, 0) = (-t2 - m_mu * m_contactNormal).transpose(); |
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B.block<1, 3>(3, 0) = (t2 - m_mu * m_contactNormal).transpose(); |
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B.block<1, 3>(n_in - 1, 0) = m_contactNormal.transpose(); |
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ub(n_in - 1) = m_fMax; |
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lb(n_in - 1) = m_fMin; |
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m_forceInequality.setMatrix(B); |
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m_forceInequality.setLowerBound(lb); |
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m_forceInequality.setUpperBound(ub); |
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} |
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double ContactPoint::getNormalForce(ConstRefVector f) const { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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f.size() == n_force(), |
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"Size of f is wrong - needs to be " + std::to_string(n_force())); |
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return m_contactNormal.dot(f); |
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} |
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const Matrix3x& ContactPoint::getContactPoints() const { |
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return m_contactPoints; |
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} |
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void ContactPoint::setRegularizationTaskWeightVector(ConstRefVector& w) { |
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m_weightForceRegTask = w; |
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updateForceRegularizationTask(); |
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} |
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void ContactPoint::updateForceRegularizationTask() { |
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Eigen::Matrix3d A = Eigen::Matrix3d::Zero(); |
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A.diagonal() = m_weightForceRegTask; |
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m_forceRegTask.setMatrix(A); |
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m_forceRegTask.setVector(A * m_fRef); |
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} |
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void ContactPoint::updateForceGeneratorMatrix() { m_forceGenMat.setIdentity(); } |
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unsigned int ContactPoint::n_motion() const { return m_motionTask.dim(); } |
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unsigned int ContactPoint::n_force() const { return 3; } |
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const Vector& ContactPoint::Kp() { |
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m_Kp3 = m_motionTask.Kp().head<3>(); |
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return m_Kp3; |
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} |
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const Vector& ContactPoint::Kd() { |
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m_Kd3 = m_motionTask.Kd().head<3>(); |
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return m_Kd3; |
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} |
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void ContactPoint::Kp(ConstRefVector Kp) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(Kp.size() == 3, |
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"Size of Kp vector needs to equal 3"); |
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Vector6 Kp6; |
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Kp6.head<3>() = Kp; |
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m_motionTask.Kp(Kp6); |
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} |
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void ContactPoint::Kd(ConstRefVector Kd) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(Kd.size() == 3, |
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"Size of Kd vector needs to equal 3"); |
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Vector6 Kd6; |
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Kd6.head<3>() = Kd; |
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m_motionTask.Kd(Kd6); |
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} |
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bool ContactPoint::setContactNormal(ConstRefVector contactNormal) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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contactNormal.size() == 3, |
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"Size of contact normal vector needs to equal 3"); |
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if (contactNormal.size() != 3) return false; |
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m_contactNormal = contactNormal; |
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updateForceInequalityConstraints(); |
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return true; |
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} |
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bool ContactPoint::setFrictionCoefficient(const double frictionCoefficient) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(frictionCoefficient > 0.0, |
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"Friction coefficient needs to be positive"); |
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if (frictionCoefficient <= 0.0) return false; |
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m_mu = frictionCoefficient; |
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updateForceInequalityConstraints(); |
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return true; |
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} |
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bool ContactPoint::setMinNormalForce(const double minNormalForce) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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minNormalForce > 0.0 && minNormalForce <= m_fMax, |
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"The minimal normal force needs to be greater than 0 and less than or " |
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"equal to the maximum force."); |
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if (minNormalForce <= 0.0 || minNormalForce > m_fMax) return false; |
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m_fMin = minNormalForce; |
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Vector& lb = m_forceInequality.lowerBound(); |
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lb(lb.size() - 1) = m_fMin; |
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return true; |
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} |
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bool ContactPoint::setMaxNormalForce(const double maxNormalForce) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(maxNormalForce >= m_fMin, |
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"The maximal normal force needs to be greater " |
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"than or equal to the minimal force"); |
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if (maxNormalForce < m_fMin) return false; |
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m_fMax = maxNormalForce; |
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Vector& ub = m_forceInequality.upperBound(); |
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ub(ub.size() - 1) = m_fMax; |
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return true; |
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} |
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void ContactPoint::setForceReference(ConstRefVector& f_ref) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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f_ref.size() == 3, "The size of the force reference needs to equal 3"); |
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m_fRef = f_ref; |
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updateForceRegularizationTask(); |
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} |
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void ContactPoint::setReference(const SE3& ref) { |
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m_motionTask.setReference(ref); |
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} |
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const ConstraintBase& ContactPoint::computeMotionTask(const double t, |
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ConstRefVector q, |
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ConstRefVector v, |
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Data& data) { |
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return m_motionTask.compute(t, q, v, data); |
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} |
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const ConstraintInequality& ContactPoint::computeForceTask(const double, |
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ConstRefVector, |
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ConstRefVector, |
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const Data&) { |
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return m_forceInequality; |
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} |
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const Matrix& ContactPoint::getForceGeneratorMatrix() { return m_forceGenMat; } |
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const ConstraintEquality& ContactPoint::computeForceRegularizationTask( |
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const double, ConstRefVector, ConstRefVector, const Data&) { |
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return m_forceRegTask; |
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} |
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double ContactPoint::getMinNormalForce() const { return m_fMin; } |
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double ContactPoint::getMaxNormalForce() const { return m_fMax; } |
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const TaskSE3Equality& ContactPoint::getMotionTask() const { |
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return m_motionTask; |
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} |
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const ConstraintBase& ContactPoint::getMotionConstraint() const { |
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return m_motionTask.getConstraint(); |
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} |
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const ConstraintInequality& ContactPoint::getForceConstraint() const { |
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return m_forceInequality; |
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} |
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const ConstraintEquality& ContactPoint::getForceRegularizationTask() const { |
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return m_forceRegTask; |
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} |