mc_tasks::lipm_stabilizer::internal::Contact Struct Reference

This class wraps information about contact surfaces used by the stabilizer. More...

#include <mc_tasks/lipm_stabilizer/Contact.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Contact ()=default
	Contact (const mc_rbdyn::Robot &robot, const std::string &surfaceName, double friction)
	Constructs a contact from a surface attached to the ankle frame of a robot. More...
	Contact (const mc_rbdyn::Robot &robot, const std::string &surfaceName, const sva::PTransformd &surfacePose, double friction)
	Constructs a Contact with user-specified surface pose. More...
HrepXd	hrep (const Eigen::Vector3d &vertical) const
	Halfspace representation of contact area in world frame. More...
const Eigen::Matrix< double, 16, 6 > &	wrenchFaceMatrix () const
Eigen::Vector3d	sagittal () const
Eigen::Vector3d	lateral () const
Eigen::Vector3d	normal () const
const Eigen::Vector3d &	position () const
double	halfWidth () const
double	halfLength () const
double	friction () const
const sva::PTransformd &	anklePose () const
Eigen::Vector3d	sagital ()
Eigen::Vector3d	lateral ()
Eigen::Vector3d	vertical ()
const std::string &	surfaceName () const
const sva::PTransformd &	surfacePose () const
const std::vector< Eigen::Vector3d > &	polygon () const
	Returns the contact polygon defined by the 4 vertices of the min/max coordinates along the surface's sagital and normal direction. More...
double	xmin () const
	World coordinates of the point furthest back in the surface's sagital direction. More...
double	xmax () const
	World coordinates of the point furthest front in the surface's sagital direction. More...
double	ymin () const
	World coordinates of the point furthest right in the surface's lateral direction. More...
double	ymax () const
	World coordinates of the point furthest left in the surface's lateral direction. More...

Detailed Description

This class wraps information about contact surfaces used by the stabilizer.

Constructor & Destructor Documentation

Contact() [1/3]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mc_tasks::lipm_stabilizer::internal::Contact::Contact ( )

default

Contact() [2/3]

mc_tasks::lipm_stabilizer::internal::Contact::Contact	(	const mc_rbdyn::Robot &	robot,
		const std::string &	surfaceName,
		double	friction
	)

Constructs a contact from a surface attached to the ankle frame of a robot.

Parameters

robot	Robot from which to create the contact
surfaceName	Name of surface attached to the robot's ankle. It is assumed that the surface frame is defined as follows: z axis going from the environment towards the robot x aligned with the sagital direction y axis aligned with the lateral direction
friction	sole friction

Contact() [3/3]

mc_tasks::lipm_stabilizer::internal::Contact::Contact	(	const mc_rbdyn::Robot &	robot,
		const std::string &	surfaceName,
		const sva::PTransformd &	surfacePose,
		double	friction
	)

Constructs a Contact with user-specified surface pose.

Parameters

surfacePose

Pose of the contact surface frame

See also

Contact(const mc_rbdyn::Robot&, const std::string &, double);

Member Function Documentation

anklePose()

const sva::PTransformd& mc_tasks::lipm_stabilizer::internal::Contact::anklePose ( ) const

inline

World position of projected ankle frame into surface frame. Orientation is that of the target contact frame.

friction()

double mc_tasks::lipm_stabilizer::internal::Contact::friction ( ) const

inline

halfLength()

double mc_tasks::lipm_stabilizer::internal::Contact::halfLength ( ) const

inline

halfWidth()

double mc_tasks::lipm_stabilizer::internal::Contact::halfWidth ( ) const

inline

hrep()

HrepXd mc_tasks::lipm_stabilizer::internal::Contact::hrep

(

const Eigen::Vector3d &

vertical

)

const

Halfspace representation of contact area in world frame.

Parameters

vertical

Normalized vector parallel to gravity

lateral() [1/2]

Eigen::Vector3d mc_tasks::lipm_stabilizer::internal::Contact::lateral ( )

inline

lateral() [2/2]

Eigen::Vector3d mc_tasks::lipm_stabilizer::internal::Contact::lateral ( ) const

inline

Lateral unit vector of the contact frame.

normal()

Eigen::Vector3d mc_tasks::lipm_stabilizer::internal::Contact::normal ( ) const

inline

Normal unit vector of the contact frame.

polygon()

const std::vector<Eigen::Vector3d>& mc_tasks::lipm_stabilizer::internal::Contact::polygon ( ) const

inline

Returns the contact polygon defined by the 4 vertices of the min/max coordinates along the surface's sagital and normal direction.

position()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::internal::Contact::position ( ) const

inline

Shorthand for position.

sagital()

Eigen::Vector3d mc_tasks::lipm_stabilizer::internal::Contact::sagital ( )

inline

sagittal()

Eigen::Vector3d mc_tasks::lipm_stabilizer::internal::Contact::sagittal ( ) const

inline

Sagittal unit vector of the contact frame.

surfaceName()

const std::string& mc_tasks::lipm_stabilizer::internal::Contact::surfaceName ( ) const

inline

surfacePose()

const sva::PTransformd& mc_tasks::lipm_stabilizer::internal::Contact::surfacePose ( ) const

inline

vertical()

Eigen::Vector3d mc_tasks::lipm_stabilizer::internal::Contact::vertical ( )

inline

wrenchFaceMatrix()

const Eigen::Matrix<double, 16, 6>& mc_tasks::lipm_stabilizer::internal::Contact::wrenchFaceMatrix ( ) const

inline

H-representation of contact wrench cones.

See https://hal.archives-ouvertes.fr/hal-02108449/document for technical details on the derivation of this formula.

Note

Uses halfLength_, halfWidth_ computed from the surface points in findSurfaceBoundaries(), friction_: sole friction

xmax()

double mc_tasks::lipm_stabilizer::internal::Contact::xmax ( ) const

inline

World coordinates of the point furthest front in the surface's sagital direction.

xmin()

double mc_tasks::lipm_stabilizer::internal::Contact::xmin ( ) const

inline

World coordinates of the point furthest back in the surface's sagital direction.

ymax()

double mc_tasks::lipm_stabilizer::internal::Contact::ymax ( ) const

inline

World coordinates of the point furthest left in the surface's lateral direction.

ymin()

double mc_tasks::lipm_stabilizer::internal::Contact::ymin ( ) const

inline

World coordinates of the point furthest right in the surface's lateral direction.

---

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

• include/mc_tasks/lipm_stabilizer/Contact.h