multicontact-api 4.1.0
API to define and store Contact phases and Contact Sequences
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multicontact_api::geometry::Ellipsoid< _Scalar, _dim, _Options > Struct Template Reference

#include <multicontact-api/geometry/ellipsoid.hpp>

Public Types

enum  { dim = _dim }
enum  { Options = _Options }
typedef Eigen::Matrix< Scalar, dim, dim, Options > Matrix
typedef Eigen::Matrix< Scalar, dim, 1, Options > Vector

Public Member Functions

 Ellipsoid (const Matrix &A, const Vector &center)
Scalar lhsValue (const Vector &point) const
const Matrix & A () const
Matrix & A ()
const Vector & center () const
Vector & center ()
void disp (std::ostream &os) const

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Protected Attributes

Matrix m_A
Vector m_center
 Center of the ellipsoid expressed in the global frame.

Friends

std::ostream & operator<< (std::ostream &os, const Ellipsoid &E)

Member Typedef Documentation

◆ Matrix

template<typename _Scalar, int _dim, int _Options>
typedef Eigen::Matrix<Scalar, dim, dim, Options> multicontact_api::geometry::Ellipsoid< _Scalar, _dim, _Options >::Matrix

◆ Vector

template<typename _Scalar, int _dim, int _Options>
typedef Eigen::Matrix<Scalar, dim, 1, Options> multicontact_api::geometry::Ellipsoid< _Scalar, _dim, _Options >::Vector

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _dim, int _Options>
anonymous enum
Enumerator
dim 

◆ anonymous enum

template<typename _Scalar, int _dim, int _Options>
anonymous enum
Enumerator
Options 

Constructor & Destructor Documentation

◆ Ellipsoid()

template<typename _Scalar, int _dim, int _Options>
multicontact_api::geometry::Ellipsoid< _Scalar, _dim, _Options >::Ellipsoid(const Matrix &A,
const Vector &center )
inline

Member Function Documentation

◆ A() [1/2]

template<typename _Scalar, int _dim, int _Options>
Matrix & multicontact_api::geometry::Ellipsoid< _Scalar, _dim, _Options >::A()
inline

◆ A() [2/2]

template<typename _Scalar, int _dim, int _Options>
const Matrix & multicontact_api::geometry::Ellipsoid< _Scalar, _dim, _Options >::A()const
inline

◆ center() [1/2]

template<typename _Scalar, int _dim, int _Options>
Vector & multicontact_api::geometry::Ellipsoid< _Scalar, _dim, _Options >::center()
inline

◆ center() [2/2]

template<typename _Scalar, int _dim, int _Options>
const Vector & multicontact_api::geometry::Ellipsoid< _Scalar, _dim, _Options >::center()const
inline

◆ disp()

template<typename _Scalar, int _dim, int _Options>
void multicontact_api::geometry::Ellipsoid< _Scalar, _dim, _Options >::disp(std::ostream &os)const
inline

◆ lhsValue()

template<typename _Scalar, int _dim, int _Options>
Scalar multicontact_api::geometry::Ellipsoid< _Scalar, _dim, _Options >::lhsValue(const Vector &point)const
inline

◆ operator<<

template<typename _Scalar, int _dim, int _Options>
std::ostream & operator<<(std::ostream &os,
const Ellipsoid< _Scalar, _dim, _Options > &E )
friend

Member Data Documentation

◆ m_A

template<typename _Scalar, int _dim, int _Options>
Matrix multicontact_api::geometry::Ellipsoid< _Scalar, _dim, _Options >::m_A
protected

◆ m_center

template<typename _Scalar, int _dim, int _Options>
Vector multicontact_api::geometry::Ellipsoid< _Scalar, _dim, _Options >::m_center
protected

Center of the ellipsoid expressed in the global frame.

◆ Scalar

template<typename _Scalar, int _dim, int _Options>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar multicontact_api::geometry::Ellipsoid< _Scalar, _dim, _Options >::Scalar
The documentation for this struct was generated from the following file: