tvm::robot::Contact Class Reference

#include <tvm/robot/Contact.h>

Inheritance diagram for tvm::robot::Contact:

Collaboration diagram for tvm::robot::Contact:

Classes
struct	Id
struct	View

Public Member Functions
	SET_OUTPUTS (Contact, F1Position, F1Jacobian, F1Velocity, F1NormalAcceleration, F2Position, F2Jacobian, F2Velocity, F2NormalAcceleration) Contact(FramePtr f1
const Frame &	f1 () const
const Frame &	f2 () const
const std::vector< sva::PTransformd > &	f1Points () const
const sva::PTransformd &	X_f1_f2 () const
const sva::PTransformd &	X_f2_f1 () const
const std::vector< sva::PTransformd > &	f2Points () const
const View	f1View () const
const View	f2View () const
const Id &	id () const
Public Member Functions inherited from tvm::graph::internal::AbstractNode
template<typename EnumT >
bool	isUpdateEnabled (EnumT e) const
virtual bool	isUpdateStaticallyEnabled (int) const
virtual bool	isUpdateCustomEnabled (int) const
virtual	~AbstractNode ()=default
void	update (int i)
Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default
template<typename T , typename EnumI , typename... Args>
void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)
template<typename T , typename EnumI , typename... Args, typename std::enable_if< std::is_base_of< abstract::Outputs, T >::value, int >::type = 0>
void	addInput (T &source, EnumI i, Args... args)
template<typename T >
void	removeInput (T *source)
template<typename T , typename... Args>
void	removeInput (T *source, Args... args)
template<typename T >
Iterator	getInput (T *source)
template<typename T >
Iterator	getInput (const std::shared_ptr< T > &source)
Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default
template<typename EnumT >
bool	isOutputEnabled (EnumT e) const
bool	isOutputEnabled (int i) const
virtual bool	isOutputStaticallyEnabled (int) const
virtual bool	isOutputCustomEnabled (int) const

Public Attributes
FramePtr	f2
FramePtr std::vector< sva::PTransformd >	points
FramePtr std::vector< sva::PTransformd > int	ambiguityId = 0)

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum class	Update_
using	UpdateParent = AbstractNode
using	UpdateBase = AbstractNode
Public Types inherited from tvm::graph::internal::Inputs
using	inputs_t = std::unordered_map< abstract::Outputs *, std::set< int > >
using	store_t = std::unordered_set< std::shared_ptr< abstract::Outputs > >
Public Types inherited from tvm::graph::abstract::Outputs
enum class	Output_
using	OutputParent = Outputs
using	OutputBase = Outputs
Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)
template<typename EnumT >
static constexpr bool	UpdateStaticallyEnabled (EnumT)
Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)
template<typename EnumT >
static constexpr bool	OutputStaticallyEnabled (EnumT)
Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize = 0
static constexpr auto	UpdateBaseName = "AbstractNode"
Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize = 0
static constexpr auto	OutputBaseName = "Outputs"
Protected Types inherited from tvm::graph::internal::AbstractNode
using	input_dependency_t = std::map< Outputs *, std::set< int > >
Protected Member Functions inherited from tvm::graph::abstract::Node< Contact >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)
void	registerUpdates (EnumT u, void(U::*fn)())
void	addOutputDependency (EnumO o, EnumU u)
void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)
void	addInternalDependency (EnumU1 uDependent, EnumU2 u)
void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)
void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)
void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)
void	addDirectDependency (EnumO o, S &source, EnumI i)
Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_
std::map< int, std::vector< int > >	outputDependencies_
std::map< int, std::vector< int > >	internalDependencies_
std::map< int, input_dependency_t >	inputDependencies_
std::map< int, std::pair< Outputs *, int > >	directDependencies_
Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_ = false

Detailed Description

Represent a contact between two frames

The node forwards the signals of each frame.

Outputs:

• F1Position/F1Jacobian/F1Velocity/F1NormalAcceleration: proxy for the first frame Position/Jacobian/Velocity/NormalAcceleration signals
• F2Position/F2Jacobian/F2Velocity/F2NormalAcceleration: proxy for the second frame Position/Jacobian/Velocity/NormalAcceleration signals

Member Function Documentation

f1()

const Frame& tvm::robot::Contact::f1 ( ) const

inline

Return the first frame in the contact

f1Points()

const std::vector<sva::PTransformd>& tvm::robot::Contact::f1Points ( ) const

inline

Return the contact points in f1

f1View()

const View tvm::robot::Contact::f1View ( ) const

inline

Return a contact view from f1 perspective

f2()

const Frame& tvm::robot::Contact::f2 ( ) const

inline

Return the second frame in the contact

f2Points()

const std::vector<sva::PTransformd>& tvm::robot::Contact::f2Points ( ) const

inline

Return the contact points in f2

f2View()

const View tvm::robot::Contact::f2View ( ) const

inline

Return a contact view from f2 perspective

id()

const Id& tvm::robot::Contact::id ( ) const

inline

Return the contact's unique id

SET_OUTPUTS()

tvm::robot::Contact::SET_OUTPUTS	(	Contact	,
		F1Position	,
		F1Jacobian	,
		F1Velocity	,
		F1NormalAcceleration	,
		F2Position	,
		F2Jacobian	,
		F2Velocity	,
		F2NormalAcceleration
	)

Constructor

Represent a contact between frame f1 and f2, the contacts points are provided in f1 frame. Importantly, it assumes the frame position are already known.

Parameters

f1	Contact frame f1
f2	Contact frame f2
points	Contact points expressed in f1
ambiguityId	If the "same" contact must exist multiple times

X_f1_f2()

const sva::PTransformd& tvm::robot::Contact::X_f1_f2 ( ) const

inline

Initial transformation between frame 1 and frame 2

X_f2_f1()

const sva::PTransformd& tvm::robot::Contact::X_f2_f1 ( ) const

inline

Initial transformation between frame 2 and frame 1

Member Data Documentation

ambiguityId

FramePtr std::vector<sva::PTransformd> int tvm::robot::Contact::ambiguityId = 0)

f2

FramePtr tvm::robot::Contact::f2

points

FramePtr std::vector<sva::PTransformd> tvm::robot::Contact::points

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

• include/tvm/robot/Contact.h