tsid::python::ContactPointPythonVisitor< ContactPoint > Struct Template Reference

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

Inheritance diagram for tsid::python::ContactPointPythonVisitor< ContactPoint >:

Collaboration diagram for tsid::python::ContactPointPythonVisitor< ContactPoint >:

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

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

Member Function Documentation

computeForceRegularizationTask()

template<typename ContactPoint>

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

inlinestatic

computeForceTask()

template<typename ContactPoint>

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

inlinestatic

computeMotionTask()

template<typename ContactPoint>

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

inlinestatic

expose()

template<typename ContactPoint>

void tsid::python::ContactPointPythonVisitor< ContactPoint >::expose ( const std::string & class_name )

inlinestatic

getForceGeneratorMatrix()

template<typename ContactPoint>

const Eigen::MatrixXd & tsid::python::ContactPointPythonVisitor< ContactPoint >::getForceGeneratorMatrix ( ContactPoint & self )

inlinestatic

getNormalForce()

template<typename ContactPoint>

double tsid::python::ContactPointPythonVisitor< ContactPoint >::getNormalForce ( ContactPoint & self, Eigen::VectorXd f )

inlinestatic

Kd()

template<typename ContactPoint>

const Eigen::VectorXd & tsid::python::ContactPointPythonVisitor< ContactPoint >::Kd ( ContactPoint & self )

inlinestatic

Kp()

template<typename ContactPoint>

const Eigen::VectorXd & tsid::python::ContactPointPythonVisitor< ContactPoint >::Kp ( ContactPoint & self )

inlinestatic

name()

template<typename ContactPoint>

std::string tsid::python::ContactPointPythonVisitor< ContactPoint >::name ( ContactPoint & self )

inlinestatic

setContactNormal()

template<typename ContactPoint>

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

inlinestatic

setContactPoints()

template<typename ContactPoint>

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

inlinestatic

setForceReference()

template<typename ContactPoint>

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

inlinestatic

setFrictionCoefficient()

template<typename ContactPoint>

bool tsid::python::ContactPointPythonVisitor< ContactPoint >::setFrictionCoefficient ( ContactPoint & self, const double frictionCoefficient )

inlinestatic

setKd()

template<typename ContactPoint>

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

inlinestatic

setKp()

template<typename ContactPoint>

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

inlinestatic

setMaxNormalForce()

template<typename ContactPoint>

bool tsid::python::ContactPointPythonVisitor< ContactPoint >::setMaxNormalForce ( ContactPoint & self, const double maxNormalForce )

inlinestatic

setMinNormalForce()

template<typename ContactPoint>

bool tsid::python::ContactPointPythonVisitor< ContactPoint >::setMinNormalForce ( ContactPoint & self, const double minNormalForce )

inlinestatic

setReference()

template<typename ContactPoint>

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

inlinestatic

setRegularizationTaskWeightVector()

template<typename ContactPoint>

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

inlinestatic

useLocalFrame()

template<typename ContactPoint>

void tsid::python::ContactPointPythonVisitor< ContactPoint >::useLocalFrame ( ContactPoint & self, const bool local_frame )

inlinestatic

visit()

template<typename ContactPoint>

template<class PyClass>

void tsid::python::ContactPointPythonVisitor< ContactPoint >::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-point.hpp