tsid  1.8.0
Efficient Task Space Inverse Dynamics for Multi-body Systems based on Pinocchio
Public Member Functions | Static Public Member Functions | List of all members
tsid::python::Contact6DPythonVisitor< Contact6d > Struct Template Reference

#include <tsid/bindings/python/contacts/contact-6d.hpp>

Inheritance diagram for tsid::python::Contact6DPythonVisitor< Contact6d >:
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Collaboration diagram for tsid::python::Contact6DPythonVisitor< Contact6d >:
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Public Member Functions

template<class PyClass >
void visit (PyClass &cl) const
 

Static Public Member Functions

static std::string name (Contact6d &self)
 
static math::ConstraintEquality computeMotionTask (Contact6d &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)
 
static math::ConstraintInequality computeForceTask (Contact6d &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const pinocchio::Data &data)
 
static math::ConstraintEquality computeForceRegularizationTask (Contact6d &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const pinocchio::Data &data)
 
static tsid::tasks::TaskSE3Equality getMotionTask (Contact6d &self)
 
static const Eigen::MatrixXd & getForceGeneratorMatrix (Contact6d &self)
 
static const Eigen::VectorXd & Kp (Contact6d &self)
 
static const Eigen::VectorXd & Kd (Contact6d &self)
 
static void setKp (Contact6d &self, const ::Eigen::VectorXd Kp)
 
static void setKd (Contact6d &self, const ::Eigen::VectorXd Kd)
 
static bool setContactPoints (Contact6d &self, const ::Eigen::MatrixXd contactpoints)
 
static bool setContactNormal (Contact6d &self, const ::Eigen::VectorXd contactNormal)
 
static bool setFrictionCoefficient (Contact6d &self, const double frictionCoefficient)
 
static bool setMinNormalForce (Contact6d &self, const double minNormalForce)
 
static bool setMaxNormalForce (Contact6d &self, const double maxNormalForce)
 
static void setReference (Contact6d &self, const pinocchio::SE3 &ref)
 
static void setForceReference (Contact6d &self, const ::Eigen::VectorXd f_ref)
 
static void setRegularizationTaskWeightVector (Contact6d &self, const ::Eigen::VectorXd w)
 
static double getNormalForce (Contact6d &self, Eigen::VectorXd f)
 
static void expose (const std::string &class_name)
 

Member Function Documentation

◆ computeForceRegularizationTask()

template<typename Contact6d >
static math::ConstraintEquality tsid::python::Contact6DPythonVisitor< Contact6d >::computeForceRegularizationTask ( Contact6d &  self,
const double  t,
const Eigen::VectorXd &  q,
const Eigen::VectorXd &  v,
const pinocchio::Data &  data 
)
inlinestatic

◆ computeForceTask()

template<typename Contact6d >
static math::ConstraintInequality tsid::python::Contact6DPythonVisitor< Contact6d >::computeForceTask ( Contact6d &  self,
const double  t,
const Eigen::VectorXd &  q,
const Eigen::VectorXd &  v,
const pinocchio::Data &  data 
)
inlinestatic

◆ computeMotionTask()

template<typename Contact6d >
static math::ConstraintEquality tsid::python::Contact6DPythonVisitor< Contact6d >::computeMotionTask ( Contact6d &  self,
const double  t,
const Eigen::VectorXd &  q,
const Eigen::VectorXd &  v,
pinocchio::Data &  data 
)
inlinestatic

◆ expose()

template<typename Contact6d >
static void tsid::python::Contact6DPythonVisitor< Contact6d >::expose ( const std::string &  class_name)
inlinestatic

◆ getForceGeneratorMatrix()

template<typename Contact6d >
static const Eigen::MatrixXd& tsid::python::Contact6DPythonVisitor< Contact6d >::getForceGeneratorMatrix ( Contact6d &  self)
inlinestatic

◆ getMotionTask()

template<typename Contact6d >
static tsid::tasks::TaskSE3Equality tsid::python::Contact6DPythonVisitor< Contact6d >::getMotionTask ( Contact6d &  self)
inlinestatic

◆ getNormalForce()

template<typename Contact6d >
static double tsid::python::Contact6DPythonVisitor< Contact6d >::getNormalForce ( Contact6d &  self,
Eigen::VectorXd  f 
)
inlinestatic

◆ Kd()

template<typename Contact6d >
static const Eigen::VectorXd& tsid::python::Contact6DPythonVisitor< Contact6d >::Kd ( Contact6d &  self)
inlinestatic

◆ Kp()

template<typename Contact6d >
static const Eigen::VectorXd& tsid::python::Contact6DPythonVisitor< Contact6d >::Kp ( Contact6d &  self)
inlinestatic

◆ name()

template<typename Contact6d >
static std::string tsid::python::Contact6DPythonVisitor< Contact6d >::name ( Contact6d &  self)
inlinestatic

◆ setContactNormal()

template<typename Contact6d >
static bool tsid::python::Contact6DPythonVisitor< Contact6d >::setContactNormal ( Contact6d &  self,
const ::Eigen::VectorXd  contactNormal 
)
inlinestatic

◆ setContactPoints()

template<typename Contact6d >
static bool tsid::python::Contact6DPythonVisitor< Contact6d >::setContactPoints ( Contact6d &  self,
const ::Eigen::MatrixXd  contactpoints 
)
inlinestatic

◆ setForceReference()

template<typename Contact6d >
static void tsid::python::Contact6DPythonVisitor< Contact6d >::setForceReference ( Contact6d &  self,
const ::Eigen::VectorXd  f_ref 
)
inlinestatic

◆ setFrictionCoefficient()

template<typename Contact6d >
static bool tsid::python::Contact6DPythonVisitor< Contact6d >::setFrictionCoefficient ( Contact6d &  self,
const double  frictionCoefficient 
)
inlinestatic

◆ setKd()

template<typename Contact6d >
static void tsid::python::Contact6DPythonVisitor< Contact6d >::setKd ( Contact6d &  self,
const ::Eigen::VectorXd  Kd 
)
inlinestatic

◆ setKp()

template<typename Contact6d >
static void tsid::python::Contact6DPythonVisitor< Contact6d >::setKp ( Contact6d &  self,
const ::Eigen::VectorXd  Kp 
)
inlinestatic

◆ setMaxNormalForce()

template<typename Contact6d >
static bool tsid::python::Contact6DPythonVisitor< Contact6d >::setMaxNormalForce ( Contact6d &  self,
const double  maxNormalForce 
)
inlinestatic

◆ setMinNormalForce()

template<typename Contact6d >
static bool tsid::python::Contact6DPythonVisitor< Contact6d >::setMinNormalForce ( Contact6d &  self,
const double  minNormalForce 
)
inlinestatic

◆ setReference()

template<typename Contact6d >
static void tsid::python::Contact6DPythonVisitor< Contact6d >::setReference ( Contact6d &  self,
const pinocchio::SE3 &  ref 
)
inlinestatic

◆ setRegularizationTaskWeightVector()

template<typename Contact6d >
static void tsid::python::Contact6DPythonVisitor< Contact6d >::setRegularizationTaskWeightVector ( Contact6d &  self,
const ::Eigen::VectorXd  w 
)
inlinestatic

◆ visit()

template<typename Contact6d >
template<class PyClass >
void tsid::python::Contact6DPythonVisitor< Contact6d >::visit ( PyClass &  cl) const
inline
The documentation for this struct was generated from the following file: