hpp-constraints 7.0.0
Definition of basic geometric constraints for motion planning
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hpp::constraints::ConvexShapeContactComplement Class Reference
Constraints

#include <hpp/constraints/convex-shape-contact.hh>

Inheritance diagram for hpp::constraints::ConvexShapeContactComplement:
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Public Member Functions

void computeRelativePoseRightHandSide (LiegroupElementConstRef rhs, std::size_t &ifloor, std::size_t &iobject, LiegroupElementRef relativePoseRhs) const
std::pair< JointConstPtr_t, JointConstPtr_t > dependsOnRelPoseBetween (DeviceConstPtr_t) const
Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual ~DifferentiableFunction ()
LiegroupElement operator() (vectorIn_t argument) const
void value (LiegroupElementRef result, vectorIn_t argument) const
void jacobian (matrixOut_t jacobian, vectorIn_t argument) const
const ArrayXb & activeParameters () const
const ArrayXb & activeDerivativeParameters () const
size_type inputSize () const
 Get dimension of input vector.
size_type inputDerivativeSize () const
LiegroupSpacePtr_t outputSpace () const
 Get output space.
size_type outputSize () const
 Get dimension of output vector.
size_type outputDerivativeSize () const
 Get dimension of output derivative vector.
const std::string & name () const
 Get function name.
virtual std::ostream & print (std::ostream &o) const
 Display object in a stream.
std::string context () const
void context (const std::string &c)
void finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
void finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
bool operator== (DifferentiableFunction const &other) const
bool operator!= (DifferentiableFunction const &b) const

Static Public Member Functions

static std::pair< ConvexShapeContactPtr_t, ConvexShapeContactComplementPtr_t > createPair (const std::string &name, DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces)
Static Public Member Functions inherited from hpp::constraints::DifferentiableFunction
static DifferentiableFunctionPtr_t extract (DifferentiableFunctionPtr_t original, interval_t interval)

Protected Member Functions

 ConvexShapeContactComplement (const std::string &name, DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces)
bool isEqual (const DifferentiableFunction &other) const
Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
 DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())
 Concrete class constructor should call this constructor.
 DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
 Concrete class constructor should call this constructor.
virtual void impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0
 User implementation of function evaluation.
virtual void impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0
 DifferentiableFunction ()

Friends

class ConvexShapeContactHold

Additional Inherited Members

Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type inputSize_
 Dimension of input vector.
size_type inputDerivativeSize_
 Dimension of input derivative.
LiegroupSpacePtr_t outputSpace_
 Dimension of output vector.
ArrayXb activeParameters_
ArrayXb activeDerivativeParameters_

Detailed Description

Complement to full transformation constraint of ConvexShapeContact

The value returned by this class is:

| Contact type | Inside | Outside | | -----------— | -----— | ----— | | ConvexShapeContact::POINT_ON_PLANE (Unsupported) | $(y,z,rx)$ | $(0,0,rx)$ | | ConvexShapeContact::LINE_ON_PLANE (Unsupported) | $(y,z,rx)$ | $(0,0,rx)$ | | ConvexShapeContact::PLANE_ON_PLANE | $(y+2jM,z+2iM,rx)$ | $(2jM,2iM,rx)$ |

where

  • $M$ is an upper bound on the radius of all floor polygons,
  • $i$ and $j$ are the indices of object and floor contact surfaces that minimize

    \begin{equation} d(o_i,f_j) \end{equation}

See also
ConvexShapeContact

Constructor & Destructor Documentation

◆ ConvexShapeContactComplement()

hpp::constraints::ConvexShapeContactComplement::ConvexShapeContactComplement(const std::string &name,
DevicePtr_trobot,
const JointAndShapes_t &floorSurfaces,
const JointAndShapes_t &objectSurfaces )
protected

Constructor

Parameters
namename of the sibling ConvexShapeContact constraint, "/complement" is added to the name of this constraint
robotrobot that holds the contact surface
floorSurfaces,objectSurfacesset of plane polygonal contact surfaces.

Member Function Documentation

◆ computeRelativePoseRightHandSide()

void hpp::constraints::ConvexShapeContactComplement::computeRelativePoseRightHandSide(LiegroupElementConstRefrhs,
std::size_t &ifloor,
std::size_t &iobject,
LiegroupElementRefrelativePoseRhs ) const

Compute parameters and right hand side of relative pose

Parameters
rhsright hand side of this constraint,
Return values
ifloor,iobjectindices of floor and object contact surface,
relativePoseRhsright hand side (implicit representation) of the relative pose constraint corresponding to contact of surfaces ifloor with iobject.

◆ createPair()

std::pair< ConvexShapeContactPtr_t, ConvexShapeContactComplementPtr_t > hpp::constraints::ConvexShapeContactComplement::createPair(const std::string &name,
DevicePtr_trobot,
const JointAndShapes_t &floorSurfaces,
const JointAndShapes_t &objectSurfaces )
static

Create a pair of constraints

Parameters
namename of the sibling ConvexShapeContact constraint, "/complement" is added to the name of this constraint
robotrobot that holds the contact surface
floorSurfaces,objectSurfacesset of plane polygonal contact surfaces.

◆ dependsOnRelPoseBetween()

std::pair< JointConstPtr_t, JointConstPtr_t > hpp::constraints::ConvexShapeContactComplement::dependsOnRelPoseBetween(DeviceConstPtr_t)const
inlinevirtual

Return pair of joints the relative pose between which modifies the function value if any

Currently only supports the case when all the joints for floors are the same and all the joints for objects involved are the same

Returns
pair of joints whose relative pose determines the value of the contact function, arranged in order of increasing joint index, or a pair of empty shared pointers.

Reimplemented from hpp::constraints::DifferentiableFunction.

◆ isEqual()

bool hpp::constraints::ConvexShapeContactComplement::isEqual(const DifferentiableFunction &other)const
protectedvirtual

Reimplemented from hpp::constraints::DifferentiableFunction.

◆ ConvexShapeContactHold

friend class ConvexShapeContactHold
friend
The documentation for this class was generated from the following file: