tsid::python::Contact6DPythonVisitor< Contact6d > Struct Template Reference

#include <tsid/bindings/python/contacts/contact-6d.hpp>

Inheritance diagram for tsid::python::Contact6DPythonVisitor< Contact6d >:

Collaboration diagram for tsid::python::Contact6DPythonVisitor< Contact6d >:

Public Member Functions
template<class PyClass>
void	visit (PyClass &cl) const

Static Public Member Functions
static std::string	name (Contact6d &self)
static math::ConstraintEquality	computeMotionTask (Contact6d &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)
static math::ConstraintInequality	computeForceTask (Contact6d &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const pinocchio::Data &data)
static math::ConstraintEquality	computeForceRegularizationTask (Contact6d &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const pinocchio::Data &data)
static tsid::tasks::TaskSE3Equality	getMotionTask (Contact6d &self)
static const Eigen::MatrixXd &	getForceGeneratorMatrix (Contact6d &self)
static const Eigen::VectorXd &	Kp (Contact6d &self)
static const Eigen::VectorXd &	Kd (Contact6d &self)
static void	setKp (Contact6d &self, const ::Eigen::VectorXd Kp)
static void	setKd (Contact6d &self, const ::Eigen::VectorXd Kd)
static bool	setContactPoints (Contact6d &self, const ::Eigen::MatrixXd contactpoints)
static bool	setContactNormal (Contact6d &self, const ::Eigen::VectorXd contactNormal)
static bool	setFrictionCoefficient (Contact6d &self, const double frictionCoefficient)
static bool	setMinNormalForce (Contact6d &self, const double minNormalForce)
static bool	setMaxNormalForce (Contact6d &self, const double maxNormalForce)
static void	setReference (Contact6d &self, const pinocchio::SE3 &ref)
static void	setForceReference (Contact6d &self, const ::Eigen::VectorXd f_ref)
static void	setRegularizationTaskWeightVector (Contact6d &self, const ::Eigen::VectorXd w)
static double	getNormalForce (Contact6d &self, Eigen::VectorXd f)
static void	expose (const std::string &class_name)

Member Function Documentation

computeForceRegularizationTask()

template<typename Contact6d>

math::ConstraintEquality tsid::python::Contact6DPythonVisitor< Contact6d >::computeForceRegularizationTask ( Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data )

inlinestatic

computeForceTask()

template<typename Contact6d>

math::ConstraintInequality tsid::python::Contact6DPythonVisitor< Contact6d >::computeForceTask ( Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data )

inlinestatic

computeMotionTask()

template<typename Contact6d>

math::ConstraintEquality tsid::python::Contact6DPythonVisitor< Contact6d >::computeMotionTask ( Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data )

inlinestatic

expose()

template<typename Contact6d>

void tsid::python::Contact6DPythonVisitor< Contact6d >::expose ( const std::string & class_name )

inlinestatic

getForceGeneratorMatrix()

template<typename Contact6d>

const Eigen::MatrixXd & tsid::python::Contact6DPythonVisitor< Contact6d >::getForceGeneratorMatrix ( Contact6d & self )

inlinestatic

getMotionTask()

template<typename Contact6d>

tsid::tasks::TaskSE3Equality tsid::python::Contact6DPythonVisitor< Contact6d >::getMotionTask ( Contact6d & self )

inlinestatic

getNormalForce()

template<typename Contact6d>

double tsid::python::Contact6DPythonVisitor< Contact6d >::getNormalForce ( Contact6d & self, Eigen::VectorXd f )

inlinestatic

Kd()

template<typename Contact6d>

const Eigen::VectorXd & tsid::python::Contact6DPythonVisitor< Contact6d >::Kd ( Contact6d & self )

inlinestatic

Kp()

template<typename Contact6d>

const Eigen::VectorXd & tsid::python::Contact6DPythonVisitor< Contact6d >::Kp ( Contact6d & self )

inlinestatic

name()

template<typename Contact6d>

std::string tsid::python::Contact6DPythonVisitor< Contact6d >::name ( Contact6d & self )

inlinestatic

setContactNormal()

template<typename Contact6d>

bool tsid::python::Contact6DPythonVisitor< Contact6d >::setContactNormal ( Contact6d & self, const ::Eigen::VectorXd contactNormal )

inlinestatic

setContactPoints()

template<typename Contact6d>

bool tsid::python::Contact6DPythonVisitor< Contact6d >::setContactPoints ( Contact6d & self, const ::Eigen::MatrixXd contactpoints )

inlinestatic

setForceReference()

template<typename Contact6d>

void tsid::python::Contact6DPythonVisitor< Contact6d >::setForceReference ( Contact6d & self, const ::Eigen::VectorXd f_ref )

inlinestatic

setFrictionCoefficient()

template<typename Contact6d>

bool tsid::python::Contact6DPythonVisitor< Contact6d >::setFrictionCoefficient ( Contact6d & self, const double frictionCoefficient )

inlinestatic

setKd()

template<typename Contact6d>

void tsid::python::Contact6DPythonVisitor< Contact6d >::setKd ( Contact6d & self, const ::Eigen::VectorXd Kd )

inlinestatic

setKp()

template<typename Contact6d>

void tsid::python::Contact6DPythonVisitor< Contact6d >::setKp ( Contact6d & self, const ::Eigen::VectorXd Kp )

inlinestatic

setMaxNormalForce()

template<typename Contact6d>

bool tsid::python::Contact6DPythonVisitor< Contact6d >::setMaxNormalForce ( Contact6d & self, const double maxNormalForce )

inlinestatic

setMinNormalForce()

template<typename Contact6d>

bool tsid::python::Contact6DPythonVisitor< Contact6d >::setMinNormalForce ( Contact6d & self, const double minNormalForce )

inlinestatic

setReference()

template<typename Contact6d>

void tsid::python::Contact6DPythonVisitor< Contact6d >::setReference ( Contact6d & self, const pinocchio::SE3 & ref )

inlinestatic

setRegularizationTaskWeightVector()

template<typename Contact6d>

void tsid::python::Contact6DPythonVisitor< Contact6d >::setRegularizationTaskWeightVector ( Contact6d & self, const ::Eigen::VectorXd w )

inlinestatic

visit()

template<typename Contact6d>

template<class PyClass>

void tsid::python::Contact6DPythonVisitor< Contact6d >::visit ( PyClass & cl ) const

inline

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

• include/tsid/bindings/python/contacts/contact-6d.hpp