tasks::qp::ContactConstrCommon Class Reference

#include <Tasks/QPContactConstr.h>

Inheritance diagram for tasks::qp::ContactConstrCommon:

Classes
struct	ContactCommon

Public Member Functions
bool	addVirtualContact (const ContactId &contactId)
bool	removeVirtualContact (const ContactId &contactId)
	Remove a virtual contact. More...
void	resetVirtualContacts ()
	Remove all virtual contact. More...
bool	addDofContact (const ContactId &contactId, const Eigen::MatrixXd &dof)
bool	removeDofContact (const ContactId &contactId)
bool	hasDoFContact (const ContactId &id) const
const Eigen::MatrixXd &	dofContact (const ContactId &contactId)
void	resetDofContacts ()

Protected Member Functions
std::set< ContactCommon >	contactCommonInContact (const std::vector< rbd::MultiBody > &mbs, const SolverData &data)

Protected Attributes
std::set< ContactId >	virtualContacts_
std::map< ContactId, Eigen::MatrixXd >	dofContacts_

Detailed Description

Manage modifier on contact constraint.

Member Function Documentation

addDofContact()

bool tasks::qp::ContactConstrCommon::addDofContact	(	const ContactId &	contactId,
		const Eigen::MatrixXd &	dof
	)

Free some degree of freedom of a contact like in the BoundedSpeedConstr.

\[ \bar{v} = S v \]

with \( v \) the velocity in the UnilateralContact and BilateralContact \( cf \) frame.

Parameters

dof	\( S \in \mathbb{R}^{n \times 6} \)

See also

BoundedSpeedConstr

ContactConstr::updateDofContacts

addVirtualContact()

bool tasks::qp::ContactConstrCommon::addVirtualContact

(

const ContactId &

contactId

)

Add a virtual contact. A virtual contact don't have any motion constraint apply on it (move freely). It can be seen like a Dof contact with \( S \in \mathbb{R}^{0 \times 6} \)

contactCommonInContact()

std::set<ContactCommon> tasks::qp::ContactConstrCommon::contactCommonInContact ( const std::vector< rbd::MultiBody > &  mbs, const SolverData &  data  )

protected

dofContact()

const Eigen::MatrixXd& tasks::qp::ContactConstrCommon::dofContact

(

const ContactId &

contactId

)

Get the DoF of a contact

See also

addDofContact

hasDoFContact()

bool tasks::qp::ContactConstrCommon::hasDoFContact

(

const ContactId &

id

)

const

Check if a DoF has specific DoF

removeDofContact()

bool tasks::qp::ContactConstrCommon::removeDofContact

(

const ContactId &

contactId

)

Remove a Dof contact.

See also

ContactConstr::updateDofContacts

removeVirtualContact()

bool tasks::qp::ContactConstrCommon::removeVirtualContact

(

const ContactId &

contactId

)

Remove a virtual contact.

resetDofContacts()

void tasks::qp::ContactConstrCommon::resetDofContacts

(

)

Remove all Dof contact.

See also

ContactConstr::updateDofContacts

resetVirtualContacts()

void tasks::qp::ContactConstrCommon::resetVirtualContacts

(

)

Remove all virtual contact.

Member Data Documentation

dofContacts_

std::map<ContactId, Eigen::MatrixXd> tasks::qp::ContactConstrCommon::dofContacts_

protected

virtualContacts_

std::set<ContactId> tasks::qp::ContactConstrCommon::virtualContacts_

protected

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

• src/Tasks/QPContactConstr.h