tvm::robot::internal::FrictionCone Class Reference

#include <tvm/robot/internal/FrictionCone.h>

Public Member Functions
	FrictionCone ()
	FrictionCone (const Eigen::Matrix3d &frame, unsigned int nrGen, double mu, double direction=1.0)

Public Attributes
std::vector< Eigen::Vector3d >	generators

Detailed Description

Linearized friction cone generator.

Compute the vectors that linearize the friction cone using the generators.

Constructor & Destructor Documentation

FrictionCone() [1/2]

tvm::robot::internal::FrictionCone::FrictionCone ( )

inline

Default constructor

FrictionCone() [2/2]

tvm::robot::internal::FrictionCone::FrictionCone	(	const Eigen::Matrix3d &	frame,
		unsigned int	nrGen,
		double	mu,
		double	direction = 1.0
	)

Compute the friction cone linearization

Parameters

frame	Friction cone frame. The friction cone is defined along the frame normal axis
nrGen	Number of vectors generating the cone
mu	Coefficient of friction
dir	Cone direction

Member Data Documentation

generators

std::vector<Eigen::Vector3d> tvm::robot::internal::FrictionCone::generators

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

• include/tvm/robot/internal/FrictionCone.h