GeometricContactFunction.h

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#pragma once
 
#include <tvm/api.h>
 
#include <tvm/function/abstract/Function.h>
#include <tvm/robot/Contact.h>
 
namespace tvm
{
 
namespace robot
{
 
namespace internal
{
 
class TVM_DLLAPI GeometricContactFunction : public function::abstract::Function
{
public:
  using Output = function::abstract::Function::Output;
  DISABLE_OUTPUTS(Output::JDot)
  SET_UPDATES(GeometricContactFunction, Value, Velocity, NormalAcceleration, Jacobian)
 
  
  GeometricContactFunction(ContactPtr contact, Eigen::Matrix6d dof);
 
private:
  ContactPtr contact_;
  Eigen::Matrix6d dof_;
  bool has_f1_;
  bool has_f2_;
 
  bool first_update_ = true;
  sva::PTransformd X_f1_f2_init_;
 
  void updateValue();
  void updateVelocity();
  void updateNormalAcceleration();
  void updateJacobian();
};
 
} // namespace internal
 
} // namespace robot
 
} // namespace tvm