multicontact_api::scenario::ContactPatchTpl< _Scalar > Struct Template Reference

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

Inheritance diagram for multicontact_api::scenario::ContactPatchTpl< _Scalar >:

Collaboration diagram for multicontact_api::scenario::ContactPatchTpl< _Scalar >:

Public Types
typedef ContactModelTpl< _Scalar >	ContactModel
typedef pinocchio::SE3Tpl< Scalar, 0 >	SE3

Public Member Functions
	ContactPatchTpl ()
	Default constructor.
	ContactPatchTpl (const SE3 &placement)
	Init contact patch from a given placement.
	ContactPatchTpl (const SE3 &placement, const Scalar mu)
	Init contact patch from a given placement and a friction coefficient.
	ContactPatchTpl (const SE3 &placement, const ContactModel contact_model)
	Init contact patch from a given placement and a contact model.
	ContactPatchTpl (const ContactPatchTpl &other)
	Copy constructor.
const SE3 &	placement () const
SE3 &	placement ()
const Scalar &	friction () const
Scalar &	friction ()
template<typename S2>
bool	operator== (const ContactPatchTpl< S2 > &other) const
template<typename S2>
bool	operator!= (const ContactPatchTpl< S2 > &other) const
void	disp (std::ostream &os) const
Public Member Functions inherited from multicontact_api::serialization::Serializable< ContactPatchTpl< _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
ContactModel	m_contact_model
	Contact model of this contact.

Protected Attributes
SE3	m_placement
	Placement of the contact patch.

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

Member Typedef Documentation

ContactModel

template<typename _Scalar>

typedef ContactModelTpl<_Scalar> multicontact_api::scenario::ContactPatchTpl< _Scalar >::ContactModel

SE3

template<typename _Scalar>

typedef pinocchio::SE3Tpl<Scalar, 0> multicontact_api::scenario::ContactPatchTpl< _Scalar >::SE3

Constructor & Destructor Documentation

ContactPatchTpl() [1/5]

template<typename _Scalar>

multicontact_api::scenario::ContactPatchTpl< _Scalar >::ContactPatchTpl ( )

inline

Default constructor.

ContactPatchTpl() [2/5]

template<typename _Scalar>

multicontact_api::scenario::ContactPatchTpl< _Scalar >::ContactPatchTpl ( const SE3 & placement )

inlineexplicit

Init contact patch from a given placement.

ContactPatchTpl() [3/5]

template<typename _Scalar>

multicontact_api::scenario::ContactPatchTpl< _Scalar >::ContactPatchTpl ( const SE3 & placement, const Scalar mu )

inline

Init contact patch from a given placement and a friction coefficient.

ContactPatchTpl() [4/5]

template<typename _Scalar>

multicontact_api::scenario::ContactPatchTpl< _Scalar >::ContactPatchTpl ( const SE3 & placement, const ContactModel contact_model )

inline

Init contact patch from a given placement and a contact model.

ContactPatchTpl() [5/5]

template<typename _Scalar>

multicontact_api::scenario::ContactPatchTpl< _Scalar >::ContactPatchTpl ( const ContactPatchTpl< _Scalar > & other )

inline

Copy constructor.

Member Function Documentation

disp()

template<typename _Scalar>

void multicontact_api::scenario::ContactPatchTpl< _Scalar >::disp ( std::ostream & os ) const

inline

friction() [1/2]

template<typename _Scalar>

Scalar & multicontact_api::scenario::ContactPatchTpl< _Scalar >::friction ( )

inline

friction() [2/2]

template<typename _Scalar>

const Scalar & multicontact_api::scenario::ContactPatchTpl< _Scalar >::friction ( ) const

inline

operator!=()

template<typename _Scalar>

template<typename S2>

bool multicontact_api::scenario::ContactPatchTpl< _Scalar >::operator!= ( const ContactPatchTpl< S2 > & other ) const

inline

operator==()

template<typename _Scalar>

template<typename S2>

bool multicontact_api::scenario::ContactPatchTpl< _Scalar >::operator== ( const ContactPatchTpl< S2 > & other ) const

inline

placement() [1/2]

template<typename _Scalar>

SE3 & multicontact_api::scenario::ContactPatchTpl< _Scalar >::placement ( )

inline

placement() [2/2]

template<typename _Scalar>

const SE3 & multicontact_api::scenario::ContactPatchTpl< _Scalar >::placement ( ) const

inline

Friends And Related Symbol Documentation

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 ContactPatchTpl< S2 > & cp )

friend

Member Data Documentation

m_contact_model

template<typename _Scalar>

ContactModel multicontact_api::scenario::ContactPatchTpl< _Scalar >::m_contact_model

Contact model of this contact.

m_placement

template<typename _Scalar>

SE3 multicontact_api::scenario::ContactPatchTpl< _Scalar >::m_placement

protected

Placement of the contact patch.

Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar multicontact_api::scenario::ContactPatchTpl< _Scalar >::Scalar

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

• include/multicontact-api/scenario/contact-patch.hpp