#include <mc_rbdyn/Contact.h>

Public Member Functions
	Contact (const mc_rbdyn::Robots &robots, const std::string &robotSurface, const std::string &envSurface, double friction=defaultFriction)

	Contact (const mc_rbdyn::Robots &robots, const std::string &robotSurface, const std::string &envSurface, const sva::PTransformd &X_es_rs, double friction=defaultFriction)

	Contact (const mc_rbdyn::Robots &robots, unsigned int r1Index, unsigned int r2Index, const std::string &r1Surface, const std::string &r2Surface, double friction=defaultFriction, int ambiguityId=-1)

	Contact (const mc_rbdyn::Robots &robots, unsigned int r1Index, unsigned int r2Index, const std::string &r1Surface, const std::string &r2Surface, const sva::PTransformd &X_r2s_r1s, double friction=defaultFriction, int ambiguityId=-1)

	Contact (const mc_rbdyn::Robots &robots, unsigned int r1Index, unsigned int r2Index, const std::string &r1Surface, const std::string &r2Surface, const sva::PTransformd &X_r2s_r1s, const sva::PTransformd &X_b_s, double friction=defaultFriction, int ambiguityId=-1)

	Contact (const Contact &contact)

Contact &	operator= (const Contact &)

	~Contact ()

unsigned int	r1Index () const

unsigned int	r2Index () const

const std::shared_ptr< mc_rbdyn::Surface > &	r1Surface () const

const std::shared_ptr< mc_rbdyn::Surface > &	r2Surface () const

const sva::PTransformd &	X_r2s_r1s () const

void	X_r2s_r1s (const sva::PTransformd &in)

const sva::PTransformd &	X_b_s () const

const int &	ambiguityId () const

bool	isFixed () const

double	friction () const

void	friction (double friction)

std::pair< std::string, std::string >	surfaces () const

sva::PTransformd	X_0_r1s (const mc_rbdyn::Robot &robot) const

sva::PTransformd	X_0_r1s (const mc_rbdyn::Robots &robots) const

sva::PTransformd	X_0_r2s (const mc_rbdyn::Robot &robot) const

sva::PTransformd	X_0_r2s (const mc_rbdyn::Robots &robots) const

std::vector< sva::PTransformd >	r1Points ()

std::vector< sva::PTransformd >	r2Points ()

sva::PTransformd	compute_X_r2s_r1s (const mc_rbdyn::Robots &robots) const

tasks::qp::ContactId	contactId (const mc_rbdyn::Robots &robots) const

mc_solver::QPContactPtr	taskContact (const mc_rbdyn::Robots &robots) const

mc_solver::QPContactPtrWPoints	taskContactWPoints (const mc_rbdyn::Robots &robots, const sva::PTransformd *X_es_rs=nullptr) const

std::string	toStr () const

Contact	swap (const mc_rbdyn::Robots &robots) const

const Eigen::Vector6d &	dof () const noexcept

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

bool	operator== (const Contact &rhs) const

bool	operator!= (const Contact &rhs) const

Static Public Member Functions
static mc_rbdyn::Contact	load (const mc_rbdyn::Robots &robots, const mc_rtc::Configuration &config)

static std::vector< mc_rbdyn::Contact >	loadVector (const mc_rbdyn::Robots &robots, const mc_rtc::Configuration &config)

Static Public Attributes
constexpr static int	nrConeGen = 4

constexpr static double	defaultFriction = 0.7

constexpr static unsigned int	nrBilatPoints = 4

Constructor & Destructor Documentation

◆ Contact() [1/6]

mc_rbdyn::Contact::Contact	(	const mc_rbdyn::Robots &	robots,
		const std::string &	robotSurface,
		const std::string &	envSurface,
		double	friction = `defaultFriction`
	)

◆ Contact() [2/6]

mc_rbdyn::Contact::Contact	(	const mc_rbdyn::Robots &	robots,
		const std::string &	robotSurface,
		const std::string &	envSurface,
		const sva::PTransformd &	X_es_rs,
		double	friction = `defaultFriction`
	)

◆ Contact() [3/6]

mc_rbdyn::Contact::Contact	(	const mc_rbdyn::Robots &	robots,
		unsigned int	r1Index,
		unsigned int	r2Index,
		const std::string &	r1Surface,
		const std::string &	r2Surface,
		double	friction = `defaultFriction`,
		int	ambiguityId = `-1`
	)

◆ Contact() [4/6]

mc_rbdyn::Contact::Contact	(	const mc_rbdyn::Robots &	robots,
		unsigned int	r1Index,
		unsigned int	r2Index,
		const std::string &	r1Surface,
		const std::string &	r2Surface,
		const sva::PTransformd &	X_r2s_r1s,
		double	friction = `defaultFriction`,
		int	ambiguityId = `-1`
	)

◆ Contact() [5/6]

mc_rbdyn::Contact::Contact	(	const mc_rbdyn::Robots &	robots,
		unsigned int	r1Index,
		unsigned int	r2Index,
		const std::string &	r1Surface,
		const std::string &	r2Surface,
		const sva::PTransformd &	X_r2s_r1s,
		const sva::PTransformd &	X_b_s,
		double	friction = `defaultFriction`,
		int	ambiguityId = `-1`
	)

◆ Contact() [6/6]

mc_rbdyn::Contact::Contact ( const Contact & contact )

◆ ~Contact()

mc_rbdyn::Contact::~Contact ( )

Member Function Documentation

◆ ambiguityId()

const int& mc_rbdyn::Contact::ambiguityId ( ) const

◆ compute_X_r2s_r1s()

sva::PTransformd mc_rbdyn::Contact::compute_X_r2s_r1s ( const mc_rbdyn::Robots & robots ) const

◆ contactId()

tasks::qp::ContactId mc_rbdyn::Contact::contactId ( const mc_rbdyn::Robots & robots ) const

◆ dof() [1/2]

const Eigen::Vector6d& mc_rbdyn::Contact::dof ( ) const

inlinenoexcept

◆ dof() [2/2]

void mc_rbdyn::Contact::dof ( const Eigen::Vector6d & dof )

inlinenoexcept

◆ friction() [1/2]

double mc_rbdyn::Contact::friction ( ) const

Return the contact friction

◆ friction() [2/2]

void mc_rbdyn::Contact::friction ( double friction )

Set the contact friction

◆ isFixed()

bool mc_rbdyn::Contact::isFixed ( ) const

◆ load()

static mc_rbdyn::Contact mc_rbdyn::Contact::load	(	const mc_rbdyn::Robots &	robots,
		const mc_rtc::Configuration &	config
	)

static

◆ loadVector()

static std::vector<mc_rbdyn::Contact> mc_rbdyn::Contact::loadVector	(	const mc_rbdyn::Robots &	robots,
		const mc_rtc::Configuration &	config
	)

static

◆ operator!=()

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

◆ operator=()

Contact& mc_rbdyn::Contact::operator= ( const Contact & )

◆ operator==()

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

◆ r1Index()

unsigned int mc_rbdyn::Contact::r1Index ( ) const

◆ r1Points()

std::vector<sva::PTransformd> mc_rbdyn::Contact::r1Points ( )

◆ r1Surface()

const std::shared_ptr<mc_rbdyn::Surface>& mc_rbdyn::Contact::r1Surface ( ) const

◆ r2Index()

unsigned int mc_rbdyn::Contact::r2Index ( ) const

◆ r2Points()

std::vector<sva::PTransformd> mc_rbdyn::Contact::r2Points ( )

◆ r2Surface()

const std::shared_ptr<mc_rbdyn::Surface>& mc_rbdyn::Contact::r2Surface ( ) const

◆ surfaces()

std::pair<std::string, std::string> mc_rbdyn::Contact::surfaces ( ) const

◆ swap()

Contact mc_rbdyn::Contact::swap ( const mc_rbdyn::Robots & robots ) const

If this is a contact r1::s1/r2::s2, this returns r2::s2/r1::s1

◆ taskContact()

mc_solver::QPContactPtr mc_rbdyn::Contact::taskContact ( const mc_rbdyn::Robots & robots ) const

◆ taskContactWPoints()

mc_solver::QPContactPtrWPoints mc_rbdyn::Contact::taskContactWPoints	(	const mc_rbdyn::Robots &	robots,
		const sva::PTransformd *	X_es_rs = `nullptr`
	)		const

◆ toStr()

std::string mc_rbdyn::Contact::toStr ( ) const

◆ X_0_r1s() [1/2]

sva::PTransformd mc_rbdyn::Contact::X_0_r1s ( const mc_rbdyn::Robot & robot ) const

◆ X_0_r1s() [2/2]

sva::PTransformd mc_rbdyn::Contact::X_0_r1s ( const mc_rbdyn::Robots & robots ) const

◆ X_0_r2s() [1/2]

sva::PTransformd mc_rbdyn::Contact::X_0_r2s ( const mc_rbdyn::Robot & robot ) const

◆ X_0_r2s() [2/2]

sva::PTransformd mc_rbdyn::Contact::X_0_r2s ( const mc_rbdyn::Robots & robots ) const

◆ X_b_s()

const sva::PTransformd& mc_rbdyn::Contact::X_b_s ( ) const

◆ X_r2s_r1s() [1/2]

const sva::PTransformd& mc_rbdyn::Contact::X_r2s_r1s ( ) const

◆ X_r2s_r1s() [2/2]

void mc_rbdyn::Contact::X_r2s_r1s ( const sva::PTransformd & in )

Member Data Documentation

◆ defaultFriction

constexpr static double mc_rbdyn::Contact::defaultFriction = 0.7

staticconstexpr

◆ nrBilatPoints

constexpr static unsigned int mc_rbdyn::Contact::nrBilatPoints = 4

staticconstexpr

◆ nrConeGen

constexpr static int mc_rbdyn::Contact::nrConeGen = 4

staticconstexpr

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

include/mc_rbdyn/Contact.h

Public Member Functions

Static Public Member Functions

Static Public Attributes

Constructor & Destructor Documentation

◆ Contact() [1/6]

◆ Contact() [2/6]

◆ Contact() [3/6]

◆ Contact() [4/6]

◆ Contact() [5/6]

◆ Contact() [6/6]

◆ ~Contact()

Member Function Documentation

◆ ambiguityId()

◆ compute_X_r2s_r1s()

◆ contactId()

◆ dof() [1/2]

◆ dof() [2/2]

◆ friction() [1/2]

◆ friction() [2/2]

◆ isFixed()

◆ load()

◆ loadVector()

◆ operator!=()

◆ operator=()

◆ operator==()

◆ r1Index()

◆ r1Points()

◆ r1Surface()

◆ r2Index()

◆ r2Points()

◆ r2Surface()

◆ surfaces()

◆ swap()

◆ taskContact()

◆ taskContactWPoints()

◆ toStr()

◆ X_0_r1s() [1/2]

◆ X_0_r1s() [2/2]

◆ X_0_r2s() [1/2]

◆ X_0_r2s() [2/2]

◆ X_b_s()

◆ X_r2s_r1s() [1/2]

◆ X_r2s_r1s() [2/2]

Member Data Documentation

◆ defaultFriction

◆ nrBilatPoints

◆ nrConeGen