tsid::contacts::ContactBase Class Reference

Base template of a Contact. More...

#include <tsid/contacts/contact-base.hpp>

Inheritance diagram for tsid::contacts::ContactBase:

Collaboration diagram for tsid::contacts::ContactBase:

Public Types
typedef math::ConstraintInequality	ConstraintInequality
typedef math::ConstraintEquality	ConstraintEquality
typedef math::ConstRefVector	ConstRefVector
typedef math::Matrix	Matrix
typedef math::Matrix3x	Matrix3x
typedef tasks::TaskSE3Equality	TaskSE3Equality
typedef tasks::TaskMotion	TaskMotion
typedef pinocchio::Data	Data
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	ContactBase (const std::string &name, RobotWrapper &robot)
virtual	~ContactBase ()=default
const std::string &	name () const
void	name (const std::string &name)
virtual unsigned int	n_motion () const =0
	Return the number of motion constraints.
virtual unsigned int	n_force () const =0
	Return the number of force variables.
virtual const ConstraintBase &	computeMotionTask (const double t, ConstRefVector q, ConstRefVector v, Data &data)=0
virtual const ConstraintInequality &	computeForceTask (const double t, ConstRefVector q, ConstRefVector v, const Data &data)=0
virtual const Matrix &	getForceGeneratorMatrix ()=0
virtual const ConstraintEquality &	computeForceRegularizationTask (const double t, ConstRefVector q, ConstRefVector v, const Data &data)=0
virtual const TaskMotion &	getMotionTask () const =0
virtual const ConstraintBase &	getMotionConstraint () const =0
virtual const ConstraintInequality &	getForceConstraint () const =0
virtual const ConstraintEquality &	getForceRegularizationTask () const =0
virtual double	getMinNormalForce () const =0
virtual double	getMaxNormalForce () const =0
virtual bool	setMinNormalForce (const double minNormalForce)=0
virtual bool	setMaxNormalForce (const double maxNormalForce)=0
virtual double	getNormalForce (ConstRefVector f) const =0
virtual const Matrix3x &	getContactPoints () const =0

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase	ConstraintBase

Protected Attributes
std::string	m_name
RobotWrapper &	m_robot
	Reference on the robot model.

Detailed Description

Base template of a Contact.

Member Typedef Documentation

ConstraintEquality

typedef math::ConstraintEquality tsid::contacts::ContactBase::ConstraintEquality

ConstraintInequality

typedef math::ConstraintInequality tsid::contacts::ContactBase::ConstraintInequality

ConstRefVector

typedef math::ConstRefVector tsid::contacts::ContactBase::ConstRefVector

Data

typedef pinocchio::Data tsid::contacts::ContactBase::Data

Matrix

typedef math::Matrix tsid::contacts::ContactBase::Matrix

Matrix3x

typedef math::Matrix3x tsid::contacts::ContactBase::Matrix3x

RobotWrapper

typedef robots::RobotWrapper tsid::contacts::ContactBase::RobotWrapper

TaskMotion

typedef tasks::TaskMotion tsid::contacts::ContactBase::TaskMotion

TaskSE3Equality

typedef tasks::TaskSE3Equality tsid::contacts::ContactBase::TaskSE3Equality

Constructor & Destructor Documentation

ContactBase()

tsid::contacts::ContactBase::ContactBase	(	const std::string &	name,
		RobotWrapper &	robot )

~ContactBase()

virtual tsid::contacts::ContactBase::~ContactBase ( )

virtualdefault

Member Function Documentation

computeForceRegularizationTask()

virtual const ConstraintEquality & tsid::contacts::ContactBase::computeForceRegularizationTask ( const double t, ConstRefVector q, ConstRefVector v, const Data & data )

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

computeForceTask()

virtual const ConstraintInequality & tsid::contacts::ContactBase::computeForceTask ( const double t, ConstRefVector q, ConstRefVector v, const Data & data )

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

computeMotionTask()

virtual const ConstraintBase & tsid::contacts::ContactBase::computeMotionTask ( const double t, ConstRefVector q, ConstRefVector v, Data & data )

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

getContactPoints()

virtual const Matrix3x & tsid::contacts::ContactBase::getContactPoints ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

getForceConstraint()

virtual const ConstraintInequality & tsid::contacts::ContactBase::getForceConstraint ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

getForceGeneratorMatrix()

virtual const Matrix & tsid::contacts::ContactBase::getForceGeneratorMatrix ( )

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

getForceRegularizationTask()

virtual const ConstraintEquality & tsid::contacts::ContactBase::getForceRegularizationTask ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

getMaxNormalForce()

virtual double tsid::contacts::ContactBase::getMaxNormalForce ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

getMinNormalForce()

virtual double tsid::contacts::ContactBase::getMinNormalForce ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

getMotionConstraint()

virtual const ConstraintBase & tsid::contacts::ContactBase::getMotionConstraint ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

getMotionTask()

virtual const TaskMotion & tsid::contacts::ContactBase::getMotionTask ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

getNormalForce()

virtual double tsid::contacts::ContactBase::getNormalForce ( ConstRefVector f ) const

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

n_force()

virtual unsigned int tsid::contacts::ContactBase::n_force ( ) const

pure virtual

Return the number of force variables.

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

n_motion()

virtual unsigned int tsid::contacts::ContactBase::n_motion ( ) const

pure virtual

Return the number of motion constraints.

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

name() [1/2]

const std::string & tsid::contacts::ContactBase::name

(

)

const

name() [2/2]

void tsid::contacts::ContactBase::name

(

const std::string &

name

)

setMaxNormalForce()

virtual bool tsid::contacts::ContactBase::setMaxNormalForce ( const double maxNormalForce )

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

setMinNormalForce()

virtual bool tsid::contacts::ContactBase::setMinNormalForce ( const double minNormalForce )

pure virtual

Implemented in tsid::contacts::Contact6d, tsid::contacts::ContactPoint, and tsid::contacts::ContactTwoFramePositions.

Member Data Documentation

ConstraintBase

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase tsid::contacts::ContactBase::ConstraintBase

m_name

std::string tsid::contacts::ContactBase::m_name

protected

m_robot

RobotWrapper& tsid::contacts::ContactBase::m_robot

protected

Reference on the robot model.

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

• include/tsid/contacts/contact-base.hpp
• src/contacts/contact-base.cpp