#include <Tasks/QPContacts.h>

Collaboration diagram for tasks::qp::UnilateralContact:

Public Member Functions
	UnilateralContact ()

	UnilateralContact (int r1Index, int r2Index, const std::string &r1BodyName, const std::string &r2BodyName, std::vector< Eigen::Vector3d > r1Points, const Eigen::Matrix3d &r1Frame, const sva::PTransformd &X_b1_b2, int nrGen, double mu, const sva::PTransformd &X_b1_cf=sva::PTransformd::Identity())

	UnilateralContact (int r1Index, int r2Index, const std::string &r1BodyName, const std::string &r2BodyName, int ambId, std::vector< Eigen::Vector3d > r1Points, const Eigen::Matrix3d &r1Frame, const sva::PTransformd &X_b1_b2, int nrGen, double mu, const sva::PTransformd &X_b1_cf=sva::PTransformd::Identity())

	UnilateralContact (const ContactId &cId, std::vector< Eigen::Vector3d > r1Points, const Eigen::Matrix3d &r1Frame, const sva::PTransformd &X_b1_b2, int nrGen, double mu, const sva::PTransformd &X_b1_cf=sva::PTransformd::Identity())

Eigen::Vector3d	force (const Eigen::VectorXd &lambda, int p, const FrictionCone &c) const

Eigen::Vector3d	force (const Eigen::VectorXd &lambda, const FrictionCone &c) const

sva::ForceVecd	force (const Eigen::VectorXd &lambda, const std::vector< Eigen::Vector3d > &r_b_pi, const FrictionCone &c_pi_b) const

int	nrLambda (int point) const

int	nrLambda () const

Eigen::Vector3d	sForce (const Eigen::VectorXd &lambda, int point, const FrictionCone &c) const

Eigen::Vector3d	sForce (const Eigen::VectorXd &lambda, const FrictionCone &c) const

sva::ForceVecd	sForce (const Eigen::VectorXd &lambda, const std::vector< Eigen::Vector3d > &r_b_pi, const FrictionCone &c_pi_b) const

int	sNrLambda (int point) const

Public Attributes
ContactId	contactId

std::vector< Eigen::Vector3d >	r1Points

std::vector< Eigen::Vector3d >	r2Points

FrictionCone	r1Cone

FrictionCone	r2Cone

sva::PTransformd	X_b1_b2

sva::PTransformd	X_b1_cf

Detailed Description

Model of a planar contacts. All friction cone are in the same direction.

Constructor & Destructor Documentation

◆ UnilateralContact() [1/4]

tasks::qp::UnilateralContact::UnilateralContact ( )

inline

◆ UnilateralContact() [2/4]

tasks::qp::UnilateralContact::UnilateralContact	(	int	r1Index,
		int	r2Index,
		const std::string &	r1BodyName,
		const std::string &	r2BodyName,
		std::vector< Eigen::Vector3d >	r1Points,
		const Eigen::Matrix3d &	r1Frame,
		const sva::PTransformd &	X_b1_b2,
		int	nrGen,
		double	mu,
		const sva::PTransformd &	X_b1_cf = `sva::PTransformd::Identity()`
	)

Parameters

r1Index	First robot imply in the contact.
r2Index	Second robot imply in the contact.
r1BodyName	Body name of robot r1Index imply in the contact.
r2BodyName	Body name of robot r2Index imply in the contact.
r1Points	Contact points in r1BodyId frame.
r1Frame	Friction cone frame in rbBodyId frame.
X_b1_b2	Transformation between r1BodyId and r2BodyId frame.
nrGen	Number of generatrix.
mu	Coefficient of friction.
X_b1_cf	Define the \( cf \) frame (common frame) used in the contact constraints.

See also: ContactConstrCommon::addDofContact

◆ UnilateralContact() [3/4]

tasks::qp::UnilateralContact::UnilateralContact	(	int	r1Index,
		int	r2Index,
		const std::string &	r1BodyName,
		const std::string &	r2BodyName,
		int	ambId,
		std::vector< Eigen::Vector3d >	r1Points,
		const Eigen::Matrix3d &	r1Frame,
		const sva::PTransformd &	X_b1_b2,
		int	nrGen,
		double	mu,
		const sva::PTransformd &	X_b1_cf = `sva::PTransformd::Identity()`
	)

Parameters

r1Index	First robot imply in the contact.
r2Index	Second robot imply in the contact.
r1BodyName	Body name of robot r1Index imply in the contact.
r2BodyName	Body name of robot r2Index imply in the contact.
ambId	ambiguityId.
r1Points	Contact points in r1BodyId frame.
r1Frame	Friction cone frame in rbBodyId frame.
X_b1_b2	Transformation between r1BodyId and r2BodyId frame.
nrGen	Number of generatrix.
mu	Coefficient of friction.
X_b1_cf	Define the \( cf \) frame (common frame) used in the contact constraints.

See also: ContactConstrCommon::addDofContact; ContactId::ContactId

◆ UnilateralContact() [4/4]

tasks::qp::UnilateralContact::UnilateralContact	(	const ContactId &	cId,
		std::vector< Eigen::Vector3d >	r1Points,
		const Eigen::Matrix3d &	r1Frame,
		const sva::PTransformd &	X_b1_b2,
		int	nrGen,
		double	mu,
		const sva::PTransformd &	X_b1_cf = `sva::PTransformd::Identity()`
	)

Parameters

cId	Contact id.
r1Points	Contact points in r1BodyId frame.
r1Frame	Friction cone frame in rbBodyId frame.
X_b1_b2	Transformation between r1BodyId and r2BodyId frame.
nrGen	Number of generatrix.
mu	Coefficient of friction.
X_b1_cf	Define the \( cf \) frame (common frame) used in the contact constraints.

See also: ContactConstrCommon::addDofContact

Member Function Documentation

◆ force() [1/3]

Eigen::Vector3d tasks::qp::UnilateralContact::force	(	const Eigen::VectorXd &	lambda,
		const FrictionCone &	c
	)		const

Returns: Cone c, force vector in body coordinate.

◆ force() [2/3]

sva::ForceVecd tasks::qp::UnilateralContact::force	(	const Eigen::VectorXd &	lambda,
		const std::vector< Eigen::Vector3d > &	r_b_pi,
		const FrictionCone &	c_pi_b
	)		const

Compute force applied on the body origin in the body frame.

Parameters

lambda	Linearized contact forces.
r_b_pi	List of transformation r_b_pi (body origin to point i).
c_pi_b	Friction cone associated with each point in body frame.

Returns: F_b, the 6D force applied on the body origin at the body frame.

◆ force() [3/3]

Eigen::Vector3d tasks::qp::UnilateralContact::force	(	const Eigen::VectorXd &	lambda,
		int	p,
		const FrictionCone &	c
	)		const

Returns: Cone c, point p force vector in body coordinate.

◆ nrLambda() [1/2]

int tasks::qp::UnilateralContact::nrLambda ( ) const

Returns: Number of lambda needed to compute the force vector.

◆ nrLambda() [2/2]

int tasks::qp::UnilateralContact::nrLambda ( int point ) const

Returns: Number of lambda needed to compute the force vector of the contact point.

◆ sForce() [1/3]

Eigen::Vector3d tasks::qp::UnilateralContact::sForce	(	const Eigen::VectorXd &	lambda,
		const FrictionCone &	c
	)		const

Safe version of

See also: force.

Exceptions

std::domain_error If lambda don't match the number of generator.

◆ sForce() [2/3]

sva::ForceVecd tasks::qp::UnilateralContact::sForce	(	const Eigen::VectorXd &	lambda,
		const std::vector< Eigen::Vector3d > &	r_b_pi,
		const FrictionCone &	c_pi_b
	)		const

Safe version of

See also: force.

Exceptions

std::domain_error If lambda don't match the number of generator.

◆ sForce() [3/3]

Eigen::Vector3d tasks::qp::UnilateralContact::sForce	(	const Eigen::VectorXd &	lambda,
		int	point,
		const FrictionCone &	c
	)		const

Safe version of

See also: force.

Exceptions

std::domain_error If lambda don't match the number of generator or if point is not a valid index.

◆ sNrLambda()

int tasks::qp::UnilateralContact::sNrLambda ( int point ) const

Safe version of

See also: nrLambda.

Exceptions

std::domain_error If point is not a valid index.

Member Data Documentation

◆ contactId

ContactId tasks::qp::UnilateralContact::contactId

◆ r1Cone

FrictionCone tasks::qp::UnilateralContact::r1Cone

◆ r1Points

std::vector<Eigen::Vector3d> tasks::qp::UnilateralContact::r1Points

◆ r2Cone

FrictionCone tasks::qp::UnilateralContact::r2Cone

◆ r2Points

std::vector<Eigen::Vector3d> tasks::qp::UnilateralContact::r2Points

◆ X_b1_b2

sva::PTransformd tasks::qp::UnilateralContact::X_b1_b2

◆ X_b1_cf

sva::PTransformd tasks::qp::UnilateralContact::X_b1_cf

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

src/Tasks/QPContacts.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ UnilateralContact() [1/4]

◆ UnilateralContact() [2/4]

◆ UnilateralContact() [3/4]

◆ UnilateralContact() [4/4]

Member Function Documentation

◆ force() [1/3]

◆ force() [2/3]

◆ force() [3/3]

◆ nrLambda() [1/2]

◆ nrLambda() [2/2]

◆ sForce() [1/3]

◆ sForce() [2/3]

◆ sForce() [3/3]

◆ sNrLambda()

Member Data Documentation

◆ contactId

◆ r1Cone

◆ r1Points

◆ r2Cone

◆ r2Points

◆ X_b1_b2

◆ X_b1_cf