Add a contact. More...

#include <mc_tasks/AddRemoveContactTask.h>

Inheritance diagram for mc_tasks::AddContactTask:

Collaboration diagram for mc_tasks::AddContactTask:

[legend]

Public Member Functions
	AddContactTask (mc_rbdyn::Robots &robots, std::shared_ptr< mc_solver::BoundedSpeedConstr > constSpeedConstr, mc_rbdyn::Contact &contact, double speed=0.01, double stiffness=2, double weight=1000, Eigen::Vector3d *userT_0_s=nullptr)
	Constructor. More...

	AddContactTask (mc_solver::QPSolver &solver, mc_rbdyn::Contact &contact, double speed=0.01, double stiffness=2, double weight=1000, Eigen::Vector3d *userT_0_s=nullptr)
	Constructor (self-managed speed constraint) More...

Public Member Functions inherited from mc_tasks::AddRemoveContactTask
	AddRemoveContactTask (const mc_rbdyn::Robots &robots, std::shared_ptr< mc_solver::BoundedSpeedConstr > constSpeedConstr, const mc_rbdyn::Contact &contact, double direction, double speed=0.01, double stiffness=2, double weight=1000, Eigen::Vector3d *userT_0_s=nullptr)
	General constructor. More...

	AddRemoveContactTask (const mc_solver::QPSolver &solver, const mc_rbdyn::Contact &contact, double direction, double speed=0.01, double stiffness=2, double weight=1000, Eigen::Vector3d *userT_0_s=nullptr)
	General constructor with self-managed bounded speed constraint. More...

void	direction (double direction)
	Set the displacement direction. More...

double	speed ()
	Get the desired dislacement speed. More...

void	speed (double s)
	Set the desired dislacement speed. More...

double	stiffness ()
	Get the task stiffness. More...

double	weight ()
	Get the task weight. More...

Eigen::Vector3d	velError ()
	Get the velocity error. More...

void	dimWeight (const Eigen::VectorXd &dimW) override
	Set the task's dimension weight vector. More...

Eigen::VectorXd	dimWeight () const override
	Get the current task's dim weight vector. More...

Eigen::VectorXd	eval () const override
	Returns the task error. More...

Eigen::VectorXd	speed () const override
	Returns the task velocity. More...

Public Member Functions inherited from mc_tasks::MetaTask
	MetaTask ()

virtual	~MetaTask ()

const std::string &	type () const

virtual void	name (const std::string &name)

const std::string &	name () const

virtual void	load (mc_solver::QPSolver &solver, const mc_rtc::Configuration &config)
	Load parameters from a Configuration object. More...

size_t	iterInSolver () const noexcept
	Get the number of iterations since the task was added to the solver. More...

void	resetIterInSolver () noexcept
	Set the number of iterations since the task was added to the solver to zero. More...

void	incrementIterInSolver () noexcept
	Increment the number of iterations since the task was added to the solver. More...

Backend	backend () const noexcept

Additional Inherited Members
Public Types inherited from mc_tasks::MetaTask
using	Backend = mc_solver::QPSolver::Backend

Public Attributes inherited from mc_tasks::AddRemoveContactTask
const mc_rbdyn::Robots &	robots

unsigned int	robotIndex

unsigned int	envIndex

std::shared_ptr< mc_solver::BoundedSpeedConstr >	constSpeedConstr

mc_rbdyn::SurfacePtr	robotSurf

unsigned int	robotBodyIndex

sva::PTransformd	targetTf

std::string	bodyId

Eigen::Matrix6d	dofMat

Eigen::Vector6d	speedMat

Eigen::Vector3d	normal

double	stiffness_

double	weight_

double	speed_

double	direction_

Eigen::Vector3d	targetSpeed

mc_rtc::void_ptr	impl_

double	targetVelWeight

Protected Member Functions inherited from mc_tasks::MetaTask
virtual void	addToLogger (mc_rtc::Logger &)

virtual void	removeFromLogger (mc_rtc::Logger &)

virtual void	addToGUI (mc_rtc::gui::StateBuilder &)

virtual void	removeFromGUI (mc_rtc::gui::StateBuilder &)

virtual std::function< bool(const mc_tasks::MetaTask &task, std::string &)>	buildCompletionCriteria (double dt, const mc_rtc::Configuration &config) const

Static Protected Member Functions inherited from mc_tasks::MetaTask
static void	addToSolver (MetaTask &t, mc_solver::QPSolver &solver)

static void	removeFromSolver (MetaTask &t, mc_solver::QPSolver &solver)

static void	update (MetaTask &t, mc_solver::QPSolver &solver)

static void	addToLogger (MetaTask &t, mc_rtc::Logger &logger)

static void	removeFromLogger (MetaTask &t, mc_rtc::Logger &logger)

static void	addToGUI (MetaTask &t, mc_rtc::gui::StateBuilder &gui)

static void	removeFromGUI (MetaTask &t, mc_rtc::gui::StateBuilder &gui)

static void	ensureHasJoints (const mc_rbdyn::Robot &robot, const std::vector< std::string > &joints, const std::string &prefix)

Protected Attributes inherited from mc_tasks::MetaTask
Backend	backend_

std::string	type_

std::string	name_

size_t	iterInSolver_ = 0

Detailed Description

Add a contact.

This is simply a special case of the generic AddRemoveContactTask where direction is equal to -1

Constructor & Destructor Documentation

◆ AddContactTask() [1/2]

mc_tasks::AddContactTask::AddContactTask	(	mc_rbdyn::Robots &	robots,
		std::shared_ptr< mc_solver::BoundedSpeedConstr >	constSpeedConstr,
		mc_rbdyn::Contact &	contact,
		double	speed = `0.01`,
		double	stiffness = `2`,
		double	weight = `1000`,
		Eigen::Vector3d *	userT_0_s = `nullptr`
	)

Constructor.

◆ AddContactTask() [2/2]

mc_tasks::AddContactTask::AddContactTask	(	mc_solver::QPSolver &	solver,
		mc_rbdyn::Contact &	contact,
		double	speed = `0.01`,
		double	stiffness = `2`,
		double	weight = `1000`,
		Eigen::Vector3d *	userT_0_s = `nullptr`
	)

Constructor (self-managed speed constraint)

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

include/mc_tasks/AddRemoveContactTask.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AddContactTask() [1/2]

◆ AddContactTask() [2/2]