#include <multicontact-api/geometry/second-order-cone.hpp>

Inheritance diagram for multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >:

Collaboration diagram for multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >:

Public Types
enum	{ dim = _dim , Options = _Options }
typedef _Scalar	Scalar
typedef Eigen::Matrix< Scalar, dim, dim, Options >	MatrixD
typedef Eigen::Matrix< Scalar, dim, 1, Options >	VectorD
typedef Eigen::DenseIndex	DenseIndex

Public Member Functions
	SecondOrderCone ()
	SecondOrderCone (const MatrixD &Q, const VectorD &direction)
template<typename S2, int O2>
bool	operator== (const SecondOrderCone< S2, dim, O2 > &other) const
template<typename S2, int O2>
bool	operator!= (const SecondOrderCone< S2, dim, O2 > &other) const
Scalar	lhsValue (const VectorD &point) const
Scalar	rhsValue (const VectorD &point) const
bool	check (const VectorD &point) const
bool	check (const VectorD &point, const Scalar factor) const
const VectorD &	direction () const
void	setDirection (const VectorD &direction)
template<typename S2, int O2>
bool	isApprox (const SecondOrderCone< S2, dim, O2 > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
const MatrixD &	Q () const
void	setQ (const MatrixD &Q)
void	disp (std::ostream &os) const
Public Member Functions inherited from multicontact_api::serialization::Serializable< SecondOrderCone< _Scalar, _dim, _Options > >
void	loadFromText (const std::string &filename)
	Loads a Derived object from a text file.
void	saveAsText (const std::string &filename) const
	Saved a Derived object as a text file.
void	loadFromXML (const std::string &filename, const std::string &tag_name)
	Loads a Derived object from an XML file.
void	saveAsXML (const std::string &filename, const std::string &tag_name) const
	Saved a Derived object as an XML file.
void	loadFromBinary (const std::string &filename)
	Loads a Derived object from an binary file.
void	saveAsBinary (const std::string &filename) const
	Saved a Derived object as an binary file.

Static Public Member Functions
static SecondOrderCone	RegularCone (const Scalar mu, const VectorD &direction)
	Build a regular cone from a given friction coefficient and a direction.

Protected Member Functions
void	computeProjectors ()

Protected Attributes
MatrixD	m_Q
	Cholesky decomposition matrix reprensenting the conic norm.
MatrixD	m_QPo
	Cholesky decomposition projected on the orthogonal of m_direction.
VectorD	m_direction
	Direction of the cone.
MatrixD	m_Pd
	Projector along the direction of d.
MatrixD	m_Po
	Projector orthogonal to d.

Friends
class	boost::serialization::access
std::ostream &	operator<< (std::ostream &os, const SecondOrderCone &C)

Member Typedef Documentation

◆ DenseIndex

template<typename _Scalar, int _dim, int _Options>

typedef Eigen::DenseIndex multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::DenseIndex

◆ MatrixD

template<typename _Scalar, int _dim, int _Options>

typedef Eigen::Matrix<Scalar, dim, dim, Options> multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::MatrixD

◆ Scalar

template<typename _Scalar, int _dim, int _Options>

typedef _Scalar multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::Scalar

◆ VectorD

template<typename _Scalar, int _dim, int _Options>

typedef Eigen::Matrix<Scalar, dim, 1, Options> multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::VectorD

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _dim, int _Options>

anonymous enum

Enumerator
dim
Options

Constructor & Destructor Documentation

◆ SecondOrderCone() [1/2]

template<typename _Scalar, int _dim, int _Options>

multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::SecondOrderCone ( )

inline

◆ SecondOrderCone() [2/2]

template<typename _Scalar, int _dim, int _Options>

multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::SecondOrderCone	(	const MatrixD &	Q,
		const VectorD &	direction )

inline

Member Function Documentation

◆ check() [1/2]

template<typename _Scalar, int _dim, int _Options>

bool multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::check ( const VectorD & point ) const

inline

Returns: true if the point is inside the cone

◆ check() [2/2]

template<typename _Scalar, int _dim, int _Options>

bool multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::check	(	const VectorD &	point,
		const Scalar	factor ) const

inline

◆ computeProjectors()

template<typename _Scalar, int _dim, int _Options>

void multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::computeProjectors ( )

inlineprotected

◆ direction()

template<typename _Scalar, int _dim, int _Options>

const VectorD & multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::direction ( ) const

inline

Returns: the direction of the cone.

◆ disp()

template<typename _Scalar, int _dim, int _Options>

void multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::disp ( std::ostream & os ) const

inline

◆ isApprox()

template<typename _Scalar, int _dim, int _Options>

template<typename S2, int O2>

bool multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::isApprox	(	const SecondOrderCone< S2, dim, O2 > &	other,
		const Scalar &	prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const

inline

◆ lhsValue()

template<typename _Scalar, int _dim, int _Options>

Scalar multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::lhsValue ( const VectorD & point ) const

inline

Returns: the value of lhs of the conic inequality

◆ operator!=()

template<typename _Scalar, int _dim, int _Options>

template<typename S2, int O2>

bool multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::operator!= ( const SecondOrderCone< S2, dim, O2 > & other ) const

inline

◆ operator==()

template<typename _Scalar, int _dim, int _Options>

template<typename S2, int O2>

bool multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::operator== ( const SecondOrderCone< S2, dim, O2 > & other ) const

inline

◆ Q()

template<typename _Scalar, int _dim, int _Options>

const MatrixD & multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::Q ( ) const

inline

Returns: the quadratic term of the lhs norm.

◆ RegularCone()

template<typename _Scalar, int _dim, int _Options>

SecondOrderCone multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::RegularCone	(	const Scalar	mu,
		const VectorD &	direction )

inlinestatic

Build a regular cone from a given friction coefficient and a direction.

Parameters

mu	Friction coefficient.
direction	Direction of the cone.

Returns: A second order cone.

◆ rhsValue()

template<typename _Scalar, int _dim, int _Options>

Scalar multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::rhsValue ( const VectorD & point ) const

inline

Returns: the value of rhs of the conic inequality

◆ setDirection()

template<typename _Scalar, int _dim, int _Options>

void multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::setDirection ( const VectorD & direction )

inline

◆ setQ()

template<typename _Scalar, int _dim, int _Options>

void multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::setQ ( const MatrixD & Q )

inline

◆ boost::serialization::access

template<typename _Scalar, int _dim, int _Options>

friend class boost::serialization::access

friend

◆ operator<<

template<typename _Scalar, int _dim, int _Options>

std::ostream & operator<<	(	std::ostream &	os,
		const SecondOrderCone< _Scalar, _dim, _Options > &	C )

friend

Member Data Documentation

◆ m_direction

template<typename _Scalar, int _dim, int _Options>

VectorD multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::m_direction

protected

Direction of the cone.

◆ m_Pd

template<typename _Scalar, int _dim, int _Options>

MatrixD multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::m_Pd

protected

Projector along the direction of d.

◆ m_Po

template<typename _Scalar, int _dim, int _Options>

MatrixD multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::m_Po

protected

Projector orthogonal to d.

◆ m_Q

template<typename _Scalar, int _dim, int _Options>

MatrixD multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::m_Q

protected

Cholesky decomposition matrix reprensenting the conic norm.

◆ m_QPo

template<typename _Scalar, int _dim, int _Options>

MatrixD multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::m_QPo

protected

Cholesky decomposition projected on the orthogonal of m_direction.

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

include/multicontact-api/geometry/fwd.hpp
include/multicontact-api/geometry/second-order-cone.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Typedef Documentation

◆ DenseIndex

◆ MatrixD

◆ Scalar

◆ VectorD

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ SecondOrderCone() [1/2]

◆ SecondOrderCone() [2/2]

Member Function Documentation

◆ check() [1/2]

◆ check() [2/2]

◆ computeProjectors()

◆ direction()

◆ disp()

◆ isApprox()

◆ lhsValue()

◆ operator!=()

◆ operator==()

◆ Q()

◆ RegularCone()

◆ rhsValue()

◆ setDirection()

◆ setQ()

Friends And Related Symbol Documentation

◆ boost::serialization::access

◆ operator<<

Member Data Documentation

◆ m_direction

◆ m_Pd

◆ m_Po

◆ m_Q

◆ m_QPo