tasks::qp::FrictionCone Struct Reference

#include <Tasks/QPContacts.h>

Public Member Functions
	FrictionCone ()
	FrictionCone (const Eigen::Matrix3d &frame, int nrGen, double mu, double direction=1.)

Public Attributes
std::vector< Eigen::Vector3d >	generators
	Vector of generatrix. More...

Detailed Description

Linearized friction cone generator. Compute the vector that linearize the friction cone (generatrix).

Constructor & Destructor Documentation

FrictionCone() [1/2]

tasks::qp::FrictionCone::FrictionCone ( )

inline

FrictionCone() [2/2]

tasks::qp::FrictionCone::FrictionCone	(	const Eigen::Matrix3d &	frame,
		int	nrGen,
		double	mu,
		double	direction = 1.
	)

Parameters

frame	Friction cone frame. The friction cone is define along the frame normal axis (last line).
nrGen	Number of generatrix.
mu	Coefficient of friction.
dir	Cone direction.

Member Data Documentation

generators

std::vector<Eigen::Vector3d> tasks::qp::FrictionCone::generators

Vector of generatrix.

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

• src/Tasks/QPContacts.h