#include <mc_tvm/ContactFunction.h>

Inheritance diagram for mc_tvm::ContactFunction:

Collaboration diagram for mc_tvm::ContactFunction:

Public Types
using	Output = tvm::function::abstract::Function::Output

Public Member Functions
	ContactFunction (const mc_rbdyn::Frame &f1, const mc_rbdyn::Frame &f2, const Eigen::Vector6d &dof=Eigen::Vector6d::Ones())

const Eigen::Vector6d &	dof () const noexcept

void	dof (const Eigen::Vector6d &dof) noexcept

Detailed Description

Represents a geometric contact function

Given two frames (f1, f2) belonging to (r1, r2) this is the difference between their current relative position and their initial relative position. This is a function of r1.q and r2.q.

If r1 or r2 is not actuated, then it is not taken into account in computations. If neither are actuated this does nothing.

The degrees of freedom computed by this function can be specified through a 6x6 dof matrix.

Outputs:

Value: dof*transformError(X_f1_f2, X_f1_f2_init)
Velocity
NormalAcceleration
Jacobian

Member Typedef Documentation

◆ Output

using mc_tvm::ContactFunction::Output = tvm::function::abstract::Function::Output

Constructor & Destructor Documentation

◆ ContactFunction()

mc_tvm::ContactFunction::ContactFunction	(	const mc_rbdyn::Frame &	f1,
		const mc_rbdyn::Frame &	f2,
		const Eigen::Vector6d &	dof = `Eigen::Vector6d::Ones()`
	)

Constructor

Parameters

f1	First contact frame
f2	Second contact frame
dof	Contact dof

Member Function Documentation

◆ dof() [1/2]

const Eigen::Vector6d& mc_tvm::ContactFunction::dof ( ) const

inlinenoexcept

Access the contact dof vector

◆ dof() [2/2]

void mc_tvm::ContactFunction::dof ( const Eigen::Vector6d & dof )

inlinenoexcept

Set the contact dof vector

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

include/mc_tvm/ContactFunction.h

Public Types

Public Member Functions