mc_tasks::AddContactTask Struct Reference
Add a contact. More...
#include <mc_tasks/AddRemoveContactTask.h>
Inheritance diagram for mc_tasks::AddContactTask:
Collaboration diagram for mc_tasks::AddContactTask:
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, |
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| Eigen::Vector3d * | userT_0_s = nullptr |
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| ) |
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, |
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| Eigen::Vector3d * | userT_0_s = nullptr |
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| ) |
Constructor (self-managed speed constraint)
The documentation for this struct was generated from the following file:
- include/mc_tasks/AddRemoveContactTask.h
