mc_tvm::CollisionFunction Class Reference

#include <mc_tvm/CollisionFunction.h>

Inheritance diagram for mc_tvm::CollisionFunction:

Collaboration diagram for mc_tvm::CollisionFunction:

Classes
struct	ObjectData

Public Member Functions
	CollisionFunction (Convex &c1, Convex &c2, const Eigen::VectorXd &r1Selector, const Eigen::VectorXd &r2Selector, double dt)
void	tick ()
double	distance () const noexcept
const Convex &	c1 () const noexcept
const Eigen::Vector3d &	p1 () const noexcept
const Convex &	c2 () const noexcept
const Eigen::Vector3d &	p2 () const noexcept

Protected Member Functions
void	updateValue ()
void	updateVelocity ()
void	updateJacobian ()
void	updateNormalAcceleration ()

Protected Attributes
uint64_t	iter_ = 0
uint64_t	prevIter_ = 0
Convex *	c1_
Convex *	c2_
double	dt_
Eigen::Vector3d	p1_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	p2_ = Eigen::Vector3d::Zero()
sch::CD_Pair	pair_
std::vector< ObjectData >	data_
Eigen::Vector3d	normVecDist_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	prevNormVecDist_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	speedVec_ = Eigen::Vector3d::Zero()
Eigen::MatrixXd	fullJac_
Eigen::MatrixXd	distJac_

Detailed Description

This class implements a collision function for two given objects

Constructor & Destructor Documentation

CollisionFunction()

mc_tvm::CollisionFunction::CollisionFunction	(	Convex &	c1,
		Convex &	c2,
		const Eigen::VectorXd &	r1Selector,
		const Eigen::VectorXd &	r2Selector,
		double	dt
	)

Constructor

Parameters

c1	First collision object
c2	Second collision object
r1Selector	Joint selector for the first robot
r2Selector	Joint selector for the second robot
dt	Timestep

Member Function Documentation

c1()

const Convex& mc_tvm::CollisionFunction::c1 ( ) const

inlinenoexcept

First convex involved in the collision

c2()

const Convex& mc_tvm::CollisionFunction::c2 ( ) const

inlinenoexcept

Second convex involved in the collision

distance()

double mc_tvm::CollisionFunction::distance ( ) const

inlinenoexcept

Distance between the two objects

p1()

const Eigen::Vector3d& mc_tvm::CollisionFunction::p1 ( ) const

inlinenoexcept

Closest point on c1 in inertial frame coordinates

p2()

const Eigen::Vector3d& mc_tvm::CollisionFunction::p2 ( ) const

inlinenoexcept

Closest point on c2 in inertial frame coordinates

tick()

void mc_tvm::CollisionFunction::tick

(

)

Called once every iteration to advance the iteration counter

updateJacobian()

void mc_tvm::CollisionFunction::updateJacobian ( )

protected

updateNormalAcceleration()

void mc_tvm::CollisionFunction::updateNormalAcceleration ( )

protected

updateValue()

void mc_tvm::CollisionFunction::updateValue ( )

protected

updateVelocity()

void mc_tvm::CollisionFunction::updateVelocity ( )

protected

Member Data Documentation

c1_

Convex* mc_tvm::CollisionFunction::c1_

protected

c2_

Convex* mc_tvm::CollisionFunction::c2_

protected

data_

std::vector<ObjectData> mc_tvm::CollisionFunction::data_

protected

distJac_

Eigen::MatrixXd mc_tvm::CollisionFunction::distJac_

protected

dt_

double mc_tvm::CollisionFunction::dt_

protected

fullJac_

Eigen::MatrixXd mc_tvm::CollisionFunction::fullJac_

protected

Intermediate computation

iter_

uint64_t mc_tvm::CollisionFunction::iter_ = 0

protected

normVecDist_

Eigen::Vector3d mc_tvm::CollisionFunction::normVecDist_ = Eigen::Vector3d::Zero()

protected

p1_

Eigen::Vector3d mc_tvm::CollisionFunction::p1_ = Eigen::Vector3d::Zero()

protected

p2_

Eigen::Vector3d mc_tvm::CollisionFunction::p2_ = Eigen::Vector3d::Zero()

protected

pair_

sch::CD_Pair mc_tvm::CollisionFunction::pair_

protected

prevIter_

uint64_t mc_tvm::CollisionFunction::prevIter_ = 0

protected

prevNormVecDist_

Eigen::Vector3d mc_tvm::CollisionFunction::prevNormVecDist_ = Eigen::Vector3d::Zero()

protected

speedVec_

Eigen::Vector3d mc_tvm::CollisionFunction::speedVec_ = Eigen::Vector3d::Zero()

protected

---

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

• include/mc_tvm/CollisionFunction.h