tsid::contacts::ContactPoint Class Reference

#include <tsid/contacts/contact-point.hpp>

Inheritance diagram for tsid::contacts::ContactPoint:

Collaboration diagram for tsid::contacts::ContactPoint:

Public Types
typedef math::ConstRefVector	ConstRefVector
typedef math::Matrix3x	Matrix3x
typedef math::Vector6	Vector6
typedef math::Vector3	Vector3
typedef math::Vector	Vector
typedef tasks::TaskSE3Equality	TaskSE3Equality
typedef math::ConstraintInequality	ConstraintInequality
typedef math::ConstraintEquality	ConstraintEquality
typedef pinocchio::SE3	SE3
Public Types inherited from tsid::contacts::ContactBase
typedef math::ConstraintInequality	ConstraintInequality
typedef math::ConstraintEquality	ConstraintEquality
typedef math::ConstRefVector	ConstRefVector
typedef math::Matrix	Matrix
typedef math::Matrix3x	Matrix3x
typedef tasks::TaskSE3Equality	TaskSE3Equality
typedef tasks::TaskMotion	TaskMotion
typedef pinocchio::Data	Data
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	ContactPoint (const std::string &name, RobotWrapper &robot, const std::string &frameName, ConstRefVector contactNormal, const double frictionCoefficient, const double minNormalForce, const double maxNormalForce)
unsigned int	n_motion () const override
	Return the number of motion constraints. More...
unsigned int	n_force () const override
	Return the number of force variables. More...
const ConstraintBase &	computeMotionTask (double t, ConstRefVector q, ConstRefVector v, Data &data) override
const ConstraintInequality &	computeForceTask (double t, ConstRefVector q, ConstRefVector v, const Data &data) override
const Matrix &	getForceGeneratorMatrix () override
const ConstraintEquality &	computeForceRegularizationTask (double t, ConstRefVector q, ConstRefVector v, const Data &data) override
const TaskSE3Equality &	getMotionTask () const override
const ConstraintBase &	getMotionConstraint () const override
const ConstraintInequality &	getForceConstraint () const override
const ConstraintEquality &	getForceRegularizationTask () const override
double	getMotionTaskWeight () const
const Matrix3x &	getContactPoints () const override
double	getNormalForce (ConstRefVector f) const override
double	getMinNormalForce () const override
double	getMaxNormalForce () const override
const Vector &	Kp ()
const Vector &	Kd ()
void	Kp (ConstRefVector Kp)
void	Kd (ConstRefVector Kp)
bool	setContactNormal (ConstRefVector contactNormal)
bool	setFrictionCoefficient (const double frictionCoefficient)
bool	setMinNormalForce (const double minNormalForce) override
bool	setMaxNormalForce (const double maxNormalForce) override
bool	setMotionTaskWeight (const double w)
void	setReference (const SE3 &ref)
void	setForceReference (ConstRefVector &f_ref)
void	setRegularizationTaskWeightVector (ConstRefVector &w)
void	useLocalFrame (bool local_frame)
	Specifies if properties of the contact point and motion task are expressed in the local or local world oriented frame. The contact forces, contact normal and contact coefficients are interpreted in the specified frame. More...
Public Member Functions inherited from tsid::contacts::ContactBase
	ContactBase (const std::string &name, RobotWrapper &robot)
virtual	~ContactBase ()=default
const std::string &	name () const
void	name (const std::string &name)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstRefMatrix	ConstRefMatrix
Public Attributes inherited from tsid::contacts::ContactBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase	ConstraintBase

Protected Member Functions
void	updateForceInequalityConstraints ()
void	updateForceRegularizationTask ()
void	updateForceGeneratorMatrix ()

Protected Attributes
TaskSE3Equality	m_motionTask
ConstraintInequality	m_forceInequality
ConstraintEquality	m_forceRegTask
Vector3	m_contactNormal
Vector3	m_fRef
Vector3	m_weightForceRegTask
Matrix3x	m_contactPoints
Vector	m_Kp3
Vector	m_Kd3
double	m_mu
double	m_fMin
double	m_fMax
double	m_regularizationTaskWeight
double	m_motionTaskWeight
Matrix	m_forceGenMat
Protected Attributes inherited from tsid::contacts::ContactBase
std::string	m_name
RobotWrapper &	m_robot
	Reference on the robot model. More...

Member Typedef Documentation

ConstraintEquality

typedef math::ConstraintEquality tsid::contacts::ContactPoint::ConstraintEquality

ConstraintInequality

typedef math::ConstraintInequality tsid::contacts::ContactPoint::ConstraintInequality

ConstRefVector

typedef math::ConstRefVector tsid::contacts::ContactPoint::ConstRefVector

Matrix3x

typedef math::Matrix3x tsid::contacts::ContactPoint::Matrix3x

SE3

typedef pinocchio::SE3 tsid::contacts::ContactPoint::SE3

TaskSE3Equality

typedef tasks::TaskSE3Equality tsid::contacts::ContactPoint::TaskSE3Equality

Vector

typedef math::Vector tsid::contacts::ContactPoint::Vector

Vector3

typedef math::Vector3 tsid::contacts::ContactPoint::Vector3

Vector6

typedef math::Vector6 tsid::contacts::ContactPoint::Vector6

Constructor & Destructor Documentation

ContactPoint()

ContactPoint::ContactPoint	(	const std::string &	name,
		RobotWrapper &	robot,
		const std::string &	frameName,
		ConstRefVector	contactNormal,
		const double	frictionCoefficient,
		const double	minNormalForce,
		const double	maxNormalForce
	)

Member Function Documentation

computeForceRegularizationTask()

const ConstraintEquality & ContactPoint::computeForceRegularizationTask ( double  t, ConstRefVector  q, ConstRefVector  v, const Data &  data  )

overridevirtual

Implements tsid::contacts::ContactBase.

computeForceTask()

const ConstraintInequality & ContactPoint::computeForceTask ( double  t, ConstRefVector  q, ConstRefVector  v, const Data &  data  )

overridevirtual

Implements tsid::contacts::ContactBase.

computeMotionTask()

const ConstraintBase & ContactPoint::computeMotionTask ( double  t, ConstRefVector  q, ConstRefVector  v, Data &  data  )

overridevirtual

Implements tsid::contacts::ContactBase.

getContactPoints()

const Matrix3x & ContactPoint::getContactPoints ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

getForceConstraint()

const ConstraintInequality & ContactPoint::getForceConstraint ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

getForceGeneratorMatrix()

const Matrix & ContactPoint::getForceGeneratorMatrix ( )

overridevirtual

Implements tsid::contacts::ContactBase.

getForceRegularizationTask()

const ConstraintEquality & ContactPoint::getForceRegularizationTask ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

getMaxNormalForce()

double ContactPoint::getMaxNormalForce ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

getMinNormalForce()

double ContactPoint::getMinNormalForce ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

getMotionConstraint()

const ConstraintBase & ContactPoint::getMotionConstraint ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

getMotionTask()

const TaskSE3Equality & ContactPoint::getMotionTask ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

getMotionTaskWeight()

double tsid::contacts::ContactPoint::getMotionTaskWeight

(

)

const

getNormalForce()

double ContactPoint::getNormalForce ( ConstRefVector  f ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Kd() [1/2]

const Vector & ContactPoint::Kd

(

)

Kd() [2/2]

void ContactPoint::Kd

(

ConstRefVector

Kp

)

Kp() [1/2]

const Vector & ContactPoint::Kp

(

)

Kp() [2/2]

void ContactPoint::Kp

(

ConstRefVector

Kp

)

n_force()

unsigned int ContactPoint::n_force ( ) const

overridevirtual

Return the number of force variables.

Implements tsid::contacts::ContactBase.

n_motion()

unsigned int ContactPoint::n_motion ( ) const

overridevirtual

Return the number of motion constraints.

Implements tsid::contacts::ContactBase.

setContactNormal()

bool ContactPoint::setContactNormal

(

ConstRefVector

contactNormal

)

setForceReference()

void ContactPoint::setForceReference

(

ConstRefVector &

f_ref

)

setFrictionCoefficient()

bool ContactPoint::setFrictionCoefficient

(

const double

frictionCoefficient

)

setMaxNormalForce()

bool ContactPoint::setMaxNormalForce ( const double  maxNormalForce )

overridevirtual

Implements tsid::contacts::ContactBase.

setMinNormalForce()

bool ContactPoint::setMinNormalForce ( const double  minNormalForce )

overridevirtual

Implements tsid::contacts::ContactBase.

setMotionTaskWeight()

bool tsid::contacts::ContactPoint::setMotionTaskWeight

(

const double

w

)

setReference()

void ContactPoint::setReference

(

const SE3 &

ref

)

setRegularizationTaskWeightVector()

void ContactPoint::setRegularizationTaskWeightVector

(

ConstRefVector &

w

)

updateForceGeneratorMatrix()

void ContactPoint::updateForceGeneratorMatrix ( )

protected

updateForceInequalityConstraints()

void ContactPoint::updateForceInequalityConstraints ( )

protected

updateForceRegularizationTask()

void ContactPoint::updateForceRegularizationTask ( )

protected

useLocalFrame()

void ContactPoint::useLocalFrame

(

bool

local_frame

)

Specifies if properties of the contact point and motion task are expressed in the local or local world oriented frame. The contact forces, contact normal and contact coefficients are interpreted in the specified frame.

Parameters

local_frame

If true, use the local frame, otherwise use the local world oriented

Member Data Documentation

ConstRefMatrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstRefMatrix tsid::contacts::ContactPoint::ConstRefMatrix

m_contactNormal

Vector3 tsid::contacts::ContactPoint::m_contactNormal

protected

m_contactPoints

Matrix3x tsid::contacts::ContactPoint::m_contactPoints

protected

m_fMax

double tsid::contacts::ContactPoint::m_fMax

protected

m_fMin

double tsid::contacts::ContactPoint::m_fMin

protected

m_forceGenMat

Matrix tsid::contacts::ContactPoint::m_forceGenMat

protected

m_forceInequality

ConstraintInequality tsid::contacts::ContactPoint::m_forceInequality

protected

m_forceRegTask

ConstraintEquality tsid::contacts::ContactPoint::m_forceRegTask

protected

m_fRef

Vector3 tsid::contacts::ContactPoint::m_fRef

protected

m_Kd3

Vector tsid::contacts::ContactPoint::m_Kd3

protected

m_Kp3

Vector tsid::contacts::ContactPoint::m_Kp3

protected

m_motionTask

TaskSE3Equality tsid::contacts::ContactPoint::m_motionTask

protected

m_motionTaskWeight

double tsid::contacts::ContactPoint::m_motionTaskWeight

protected

m_mu

double tsid::contacts::ContactPoint::m_mu

protected

m_regularizationTaskWeight

double tsid::contacts::ContactPoint::m_regularizationTaskWeight

protected

m_weightForceRegTask

Vector3 tsid::contacts::ContactPoint::m_weightForceRegTask

protected

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The documentation for this class was generated from the following files:

• include/tsid/contacts/contact-point.hpp
• src/contacts/contact-point.cpp