mc_control::Contact Class Reference

#include <mc_control/Contact.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Contact (const std::optional< std::string > &r1, const std::optional< std::string > &r2, const std::string &r1Surface, const std::string &r2Surface, double friction=mc_rbdyn::Contact::defaultFriction, const Eigen::Vector6d &dof=Eigen::Vector6d::Ones())
bool	operator== (const Contact &rhs) const
bool	operator!= (const Contact &rhs) const
	Contact ()=default

Static Public Member Functions
static Contact	from_mc_rbdyn (const MCController &, const mc_rbdyn::Contact &)

Public Attributes
std::optional< std::string >	r1
std::optional< std::string >	r2
std::string	r1Surface
std::string	r2Surface
double	friction
Eigen::Vector6d	dof

Detailed Description

A lightweight variant of mc_rbdyn::Contact meant to simplify contact manipulations

If r1 or r2 is std::nullopt then the controller will use the main robot instead

Constructor & Destructor Documentation

Contact() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mc_control::Contact::Contact ( const std::optional< std::string > &  r1, const std::optional< std::string > &  r2, const std::string &  r1Surface, const std::string &  r2Surface, double  friction = mc_rbdyn::Contact::defaultFriction, const Eigen::Vector6d &  dof = Eigen::Vector6d::Ones()  )

inline

Contact() [2/2]

mc_control::Contact::Contact ( )

default

Default constructor, invalid contact

Member Function Documentation

from_mc_rbdyn()

static Contact mc_control::Contact::from_mc_rbdyn ( const MCController &  , const mc_rbdyn::Contact &    )

static

Conversion from mc_rbdyn::Contact

operator!=()

bool mc_control::Contact::operator!= ( const Contact &  rhs ) const

inline

operator==()

bool mc_control::Contact::operator== ( const Contact &  rhs ) const

inline

Member Data Documentation

dof

Eigen::Vector6d mc_control::Contact::dof

mutable

friction

double mc_control::Contact::friction

mutable

r1

std::optional<std::string> mc_control::Contact::r1

r1Surface

std::string mc_control::Contact::r1Surface

r2

std::optional<std::string> mc_control::Contact::r2

r2Surface

std::string mc_control::Contact::r2Surface

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

• include/mc_control/Contact.h