Contacts wrap foot frames with extra info from the footstep plan. More...

#include <lipm_walking/Contact.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Contact ()
	Empty constructor. More...

	Contact (const sva::PTransformd &pose)
	Define from Plücker transform. More...

Eigen::Vector3d	sagittal () const
	Sagittal unit vector of the contact frame. More...

Eigen::Vector3d	lateral () const
	Lateral unit vector of the contact frame. More...

Eigen::Vector3d	normal () const
	Normal unit vector of the contact frame. More...

const Eigen::Vector3d &	position () const
	World position of the contact frame. More...

const Eigen::Vector3d &	p () const
	Shorthand for position. More...

Eigen::Vector3d	anklePos (const Sole &sole) const
	Position of ankle from foot center frame. More...

sva::PTransformd	anklePose (const Sole &sole) const
	Get frame rooted at the ankle. More...

double	x () const
	Shorthand for world x-coordinate. More...

double	y () const
	Shorthand for world y-coordinate. More...

double	z () const
	Shorthand for world z-coordinate. More...

Eigen::Vector3d	vertex0 () const
	Corner vertex of the contact area. More...

Eigen::Vector3d	vertex1 () const
	Corner vertex of the contact area. More...

Eigen::Vector3d	vertex2 () const
	Corner vertex of the contact area. More...

Eigen::Vector3d	vertex3 () const
	Corner vertex of the contact area. More...

template<int i>
double	minCoord () const
	Minimum coordinate for vertices of the contact area. More...

template<int i>
double	maxCoord () const
	Maximum coordinate for vertices of the contact area. More...

double	xmin () const
	Minimum world x-coordinate of the contact area. More...

double	xmax () const
	Maximum world x-coordinate of the contact area. More...

double	ymin () const
	Minimum world y-coordinate of the contact area. More...

double	ymax () const
	Maximum world y-coordinate of the contact area. More...

double	zmin () const
	Minimum world z-coordinate of the contact area. More...

double	zmax () const
	Maximum world z-coordinate of the contact area. More...

HrepXd	hrep () const
	Halfspace representation of contact area in world frame. More...

sva::PTransformd	robotTransform (const mc_rbdyn::Robot &robot) const
	Compute floating base transform that puts the robot in contact. More...

Public Attributes
Eigen::Vector3d	refVel
	Desired CoM velocity when the robot is supporting itself on this contact. More...

double	halfLength = 0.
	Half-length of the contact rectangle in [m]. More...

double	halfWidth = 0.
	Half-width of the contact rectangle in [m]. More...

mc_rtc::Configuration	swingConfig
	Additional configuration for swing foot trajectories that originate from this contact. More...

std::string	surfaceName = ""
	Name of the contact surface in robot model. More...

sva::PTransformd	pose
	Plücker transform of the contact in the inertial frame. More...

unsigned	id = 0
	Index of contact in footstep plan. More...

Detailed Description

Contacts wrap foot frames with extra info from the footstep plan.

Definition at line 51 of file Contact.h.

Constructor & Destructor Documentation

◆ Contact() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW lipm_walking::Contact::Contact ( )

inline

Empty constructor.

Leaves the contact's Plücker transform uninitialized.

Definition at line 60 of file Contact.h.

◆ Contact() [2/2]

lipm_walking::Contact::Contact ( const sva::PTransformd & pose )

inline

Define from Plücker transform.

Parameters

pose	Plücker transform from inertial to contact frame.

Definition at line 67 of file Contact.h.

Member Function Documentation

◆ anklePos()

Eigen::Vector3d lipm_walking::Contact::anklePos ( const Sole & sole ) const

inline

Position of ankle from foot center frame.

Parameters

sole	Sole dimensions.

Definition at line 114 of file Contact.h.

◆ anklePose()

sva::PTransformd lipm_walking::Contact::anklePose ( const Sole & sole ) const

inline

Get frame rooted at the ankle.

Parameters

sole	Sole dimensions.

Definition at line 136 of file Contact.h.

◆ hrep()

HrepXd lipm_walking::Contact::hrep ( ) const

inline

Halfspace representation of contact area in world frame.

Definition at line 266 of file Contact.h.

◆ lateral()

Eigen::Vector3d lipm_walking::Contact::lateral ( ) const

inline

Lateral unit vector of the contact frame.

Definition at line 80 of file Contact.h.

◆ maxCoord()

template<int i>

double lipm_walking::Contact::maxCoord ( ) const

inline

Maximum coordinate for vertices of the contact area.

Definition at line 210 of file Contact.h.

◆ minCoord()

template<int i>

double lipm_walking::Contact::minCoord ( ) const

inline

Minimum coordinate for vertices of the contact area.

Definition at line 201 of file Contact.h.

◆ normal()

Eigen::Vector3d lipm_walking::Contact::normal ( ) const

inline

Normal unit vector of the contact frame.

Definition at line 88 of file Contact.h.

◆ p()

const Eigen::Vector3d& lipm_walking::Contact::p ( ) const

inline

Shorthand for position.

Definition at line 104 of file Contact.h.

◆ position()

const Eigen::Vector3d& lipm_walking::Contact::position ( ) const

inline

World position of the contact frame.

Definition at line 96 of file Contact.h.

◆ robotTransform()

sva::PTransformd lipm_walking::Contact::robotTransform ( const mc_rbdyn::Robot & robot ) const

inline

Compute floating base transform that puts the robot in contact.

Parameters

robot Robot model (including its multi-body configuration).

Definition at line 297 of file Contact.h.

◆ sagittal()

Eigen::Vector3d lipm_walking::Contact::sagittal ( ) const

inline

Sagittal unit vector of the contact frame.

Definition at line 72 of file Contact.h.

◆ vertex0()

Eigen::Vector3d lipm_walking::Contact::vertex0 ( ) const

inline

Corner vertex of the contact area.

Definition at line 168 of file Contact.h.

◆ vertex1()

Eigen::Vector3d lipm_walking::Contact::vertex1 ( ) const

inline

Corner vertex of the contact area.

Definition at line 176 of file Contact.h.

◆ vertex2()

Eigen::Vector3d lipm_walking::Contact::vertex2 ( ) const

inline

Corner vertex of the contact area.

Definition at line 184 of file Contact.h.

◆ vertex3()

Eigen::Vector3d lipm_walking::Contact::vertex3 ( ) const

inline

Corner vertex of the contact area.

Definition at line 192 of file Contact.h.

◆ x()

double lipm_walking::Contact::x ( ) const

inline

Shorthand for world x-coordinate.

Definition at line 144 of file Contact.h.

◆ xmax()

double lipm_walking::Contact::xmax ( ) const

inline

Maximum world x-coordinate of the contact area.

Definition at line 226 of file Contact.h.

◆ xmin()

double lipm_walking::Contact::xmin ( ) const

inline

Minimum world x-coordinate of the contact area.

Definition at line 218 of file Contact.h.

◆ y()

double lipm_walking::Contact::y ( ) const

inline

Shorthand for world y-coordinate.

Definition at line 152 of file Contact.h.

◆ ymax()

double lipm_walking::Contact::ymax ( ) const

inline

Maximum world y-coordinate of the contact area.

Definition at line 242 of file Contact.h.

◆ ymin()

double lipm_walking::Contact::ymin ( ) const

inline

Minimum world y-coordinate of the contact area.

Definition at line 234 of file Contact.h.

◆ z()

double lipm_walking::Contact::z ( ) const

inline

Shorthand for world z-coordinate.

Definition at line 160 of file Contact.h.

◆ zmax()

double lipm_walking::Contact::zmax ( ) const

inline

Maximum world z-coordinate of the contact area.

Definition at line 258 of file Contact.h.

◆ zmin()

double lipm_walking::Contact::zmin ( ) const

inline

Minimum world z-coordinate of the contact area.

Definition at line 250 of file Contact.h.

Member Data Documentation

◆ halfLength

double lipm_walking::Contact::halfLength = 0.

Half-length of the contact rectangle in [m].

Definition at line 309 of file Contact.h.

◆ halfWidth

double lipm_walking::Contact::halfWidth = 0.

Half-width of the contact rectangle in [m].

Definition at line 310 of file Contact.h.

◆ id

unsigned lipm_walking::Contact::id = 0

Index of contact in footstep plan.

Definition at line 315 of file Contact.h.

◆ pose

sva::PTransformd lipm_walking::Contact::pose

Plücker transform of the contact in the inertial frame.

Definition at line 314 of file Contact.h.

◆ refVel

Eigen::Vector3d lipm_walking::Contact::refVel

Initial value:

=

Eigen::Vector3d::Zero()

Desired CoM velocity when the robot is supporting itself on this contact.

Definition at line 307 of file Contact.h.

◆ surfaceName

std::string lipm_walking::Contact::surfaceName = ""

Name of the contact surface in robot model.

Definition at line 313 of file Contact.h.

◆ swingConfig

mc_rtc::Configuration lipm_walking::Contact::swingConfig

Additional configuration for swing foot trajectories that originate from this contact.

Definition at line 312 of file Contact.h.

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Contact() [1/2]

◆ Contact() [2/2]

Member Function Documentation

◆ anklePos()

◆ anklePose()

◆ hrep()

◆ lateral()

◆ maxCoord()

◆ minCoord()

◆ normal()

◆ p()

◆ position()

◆ robotTransform()

◆ sagittal()

◆ vertex0()

◆ vertex1()

◆ vertex2()

◆ vertex3()

◆ x()

◆ xmax()

◆ xmin()

◆ y()

◆ ymax()

◆ ymin()

◆ z()

◆ zmax()

◆ zmin()

Member Data Documentation

◆ halfLength

◆ halfWidth

◆ id

◆ pose

◆ refVel

◆ surfaceName

◆ swingConfig