multicontact-api 4.1.0
API to define and store Contact phases and Contact Sequences
Loading...
Searching...
No Matches
multicontact_api::scenario::ContactModelTpl< _Scalar > Struct Template Reference

#include <multicontact-api/scenario/contact-model.hpp>

Inheritance diagram for multicontact_api::scenario::ContactModelTpl< _Scalar >:
Inheritance graph
[legend]
Collaboration diagram for multicontact_api::scenario::ContactModelTpl< _Scalar >:
Collaboration graph
[legend]

Public Types

typedef Eigen::Matrix< Scalar, 3, 3 > Matrix3
typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic > Matrix3X
typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic > Matrix6X

Public Member Functions

 ContactModelTpl ()
 Default constructor.
 ContactModelTpl (const Scalar mu)
 Constructor with friction.
 ContactModelTpl (const Scalar mu, const ContactType contact_type)
 Full constructor.
template<typename S2>
 ContactModelTpl (const ContactModelTpl< S2 > &other)
 Copy constructor.
template<typename S2>
bool operator== (const ContactModelTpl< S2 > &other) const
template<typename S2>
bool operator!= (const ContactModelTpl< S2 > &other) const
void disp (std::ostream &os) const
size_t num_contact_points () const
void num_contact_points (const size_t num)
Matrix3X contact_points_positions () const
void contact_points_positions (const Matrix3X &positions)
Matrix6X generatorMatrix () const
 generatorMatrix Return a 6x(num_contact_points*3) matrix containing the generator used to compute contact forces.
Public Member Functions inherited from multicontact_api::serialization::Serializable< ContactModelTpl< _Scalar > >
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.

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
Scalar m_mu
 Friction coefficient.
ContactType m_contact_type
 ZMP radius.

Friends

class boost::serialization::access
template<typename S2>
std::ostream & operator<< (std::ostream &os, const ContactModelTpl< S2 > &cp)

Member Typedef Documentation

◆ Matrix3

template<typename _Scalar>
typedef Eigen::Matrix<Scalar, 3, 3> multicontact_api::scenario::ContactModelTpl< _Scalar >::Matrix3

◆ Matrix3X

template<typename _Scalar>
typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic> multicontact_api::scenario::ContactModelTpl< _Scalar >::Matrix3X

◆ Matrix6X

template<typename _Scalar>
typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic> multicontact_api::scenario::ContactModelTpl< _Scalar >::Matrix6X

Constructor & Destructor Documentation

◆ ContactModelTpl() [1/4]

template<typename _Scalar>
multicontact_api::scenario::ContactModelTpl< _Scalar >::ContactModelTpl()
inline

Default constructor.

◆ ContactModelTpl() [2/4]

template<typename _Scalar>
multicontact_api::scenario::ContactModelTpl< _Scalar >::ContactModelTpl(const Scalarmu)
inline

Constructor with friction.

◆ ContactModelTpl() [3/4]

template<typename _Scalar>
multicontact_api::scenario::ContactModelTpl< _Scalar >::ContactModelTpl(const Scalarmu,
const ContactTypecontact_type )
inline

Full constructor.

◆ ContactModelTpl() [4/4]

template<typename _Scalar>
template<typename S2>
multicontact_api::scenario::ContactModelTpl< _Scalar >::ContactModelTpl(const ContactModelTpl< S2 > &other)
inlineexplicit

Copy constructor.

Member Function Documentation

◆ contact_points_positions() [1/2]

template<typename _Scalar>
Matrix3X multicontact_api::scenario::ContactModelTpl< _Scalar >::contact_points_positions()const
inline

◆ contact_points_positions() [2/2]

template<typename _Scalar>
void multicontact_api::scenario::ContactModelTpl< _Scalar >::contact_points_positions(const Matrix3X &positions)
inline

◆ disp()

template<typename _Scalar>
void multicontact_api::scenario::ContactModelTpl< _Scalar >::disp(std::ostream &os)const
inline

◆ generatorMatrix()

template<typename _Scalar>
Matrix6X multicontact_api::scenario::ContactModelTpl< _Scalar >::generatorMatrix()const
inline

generatorMatrix Return a 6x(num_contact_points*3) matrix containing the generator used to compute contact forces.

Returns

◆ num_contact_points() [1/2]

template<typename _Scalar>
size_t multicontact_api::scenario::ContactModelTpl< _Scalar >::num_contact_points()const
inline

◆ num_contact_points() [2/2]

template<typename _Scalar>
void multicontact_api::scenario::ContactModelTpl< _Scalar >::num_contact_points(const size_tnum)
inline

◆ operator!=()

template<typename _Scalar>
template<typename S2>
bool multicontact_api::scenario::ContactModelTpl< _Scalar >::operator!=(const ContactModelTpl< S2 > &other)const
inline

◆ operator==()

template<typename _Scalar>
template<typename S2>
bool multicontact_api::scenario::ContactModelTpl< _Scalar >::operator==(const ContactModelTpl< S2 > &other)const
inline

◆ boost::serialization::access

template<typename _Scalar>
friend class boost::serialization::access
friend

◆ operator<<

template<typename _Scalar>
template<typename S2>
std::ostream & operator<<(std::ostream &os,
const ContactModelTpl< S2 > &cp )
friend

Member Data Documentation

◆ m_contact_type

template<typename _Scalar>
ContactType multicontact_api::scenario::ContactModelTpl< _Scalar >::m_contact_type

ZMP radius.

◆ m_mu

template<typename _Scalar>
Scalar multicontact_api::scenario::ContactModelTpl< _Scalar >::m_mu

Friction coefficient.

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar multicontact_api::scenario::ContactModelTpl< _Scalar >::Scalar
The documentation for this struct was generated from the following file: