crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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friction-cone.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2021, University of Edinburgh, University of Oxford
5// Copyright note valid unless otherwise stated in individual files.
6// All rights reserved.
8
9#ifndef CROCODDYL_MULTIBODY_FRICTION_CONE_HPP_
10#define CROCODDYL_MULTIBODY_FRICTION_CONE_HPP_
11
12#include "crocoddyl/multibody/fwd.hpp"
13#include "crocoddyl/core/mathbase.hpp"
14#include "crocoddyl/core/utils/deprecate.hpp"
15
16namespace crocoddyl {
17
26template <typename _Scalar>
28 public:
29 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
30
31 typedef _Scalar Scalar;
33 typedef typename MathBase::Vector3s Vector3s;
34 typedef typename MathBase::Matrix3s Matrix3s;
35 typedef typename MathBase::VectorXs VectorXs;
36 typedef typename MathBase::MatrixXs MatrixXs;
37 typedef typename MathBase::MatrixX3s MatrixX3s;
38 typedef typename MathBase::Quaternions Quaternions;
39
43 explicit FrictionConeTpl();
44
55 FrictionConeTpl(const Matrix3s& R, const Scalar mu, std::size_t nf = 4, const bool inner_appr = true,
56 const Scalar min_nforce = Scalar(0.),
57 const Scalar max_nforce = std::numeric_limits<Scalar>::infinity());
58 DEPRECATED("Use constructor based on rotation matrix.",
59 FrictionConeTpl(const Vector3s& normal, const Scalar mu, std::size_t nf = 4, const bool inner_appr = true,
60 const Scalar min_nforce = Scalar(0.),
61 const Scalar max_nforce = std::numeric_limits<Scalar>::infinity());)
62
70
79 void update();
80 DEPRECATED("Use update()", void update(const Vector3s& normal, const Scalar mu, const bool inner_appr = true,
81 const Scalar min_nforce = Scalar(0.),
82 const Scalar max_nforce = std::numeric_limits<Scalar>::infinity()));
83
87 const MatrixX3s& get_A() const;
88
92 const VectorXs& get_ub() const;
93
97 const VectorXs& get_lb() const;
98
102 std::size_t get_nf() const;
103
107 const Matrix3s& get_R() const;
108
109 DEPRECATED("Use get_R.", Vector3s get_nsurf();)
110
114 const Scalar get_mu() const;
115
119 bool get_inner_appr() const;
120
124 const Scalar get_min_nforce() const;
125
129 const Scalar get_max_nforce() const;
130
136 void set_R(const Matrix3s& R);
137
138 DEPRECATED("Use set_R.", void set_nsurf(const Vector3s& nsurf);)
139
145 void set_mu(const Scalar mu);
146
152 void set_inner_appr(const bool inner_appr);
153
159 void set_min_nforce(const Scalar min_nforce);
160
166 void set_max_nforce(const Scalar max_nforce);
167
168 FrictionConeTpl<Scalar>& operator=(const FrictionConeTpl<Scalar>& other);
169
170 template <class Scalar>
171 friend std::ostream& operator<<(std::ostream& os, const FrictionConeTpl<Scalar>& X);
172
173 private:
174 std::size_t nf_;
175 MatrixX3s A_;
176 VectorXs ub_;
177 VectorXs lb_;
178 Matrix3s R_;
179 Scalar mu_;
180 bool inner_appr_;
181 Scalar min_nforce_;
182 Scalar max_nforce_;
183};
184
185} // namespace crocoddyl
186/* --- Details -------------------------------------------------------------- */
187/* --- Details -------------------------------------------------------------- */
188/* --- Details -------------------------------------------------------------- */
189#include "crocoddyl/multibody/friction-cone.hxx"
190
191#endif // CROCODDYL_MULTIBODY_FRICTION_CONE_HPP_
This class encapsulates a friction cone.
void set_max_nforce(const Scalar max_nforce)
Modify the maximum normal force.
const VectorXs & get_ub() const
Return the upper bound of the friction cone.
bool get_inner_appr() const
Return the label that describes the type of friction cone approximation (inner/outer)
const Matrix3s & get_R() const
Return the surface normal vector.
const Scalar get_max_nforce() const
Return the maximum normal force.
void set_inner_appr(const bool inner_appr)
Modify the label that describes the type of friction cone approximation (inner/outer)
const Scalar get_mu() const
Return the friction coefficient.
void set_min_nforce(const Scalar min_nforce)
Modify the maximum normal force.
std::size_t get_nf() const
Return the number of facets.
FrictionConeTpl()
Initialize the friction cone.
void set_R(const Matrix3s &R)
Modify the rotation matrix that defines the cone orientation w.r.t. the inertial frame.
const VectorXs & get_lb() const
Return the lower bound of the friction cone.
const MatrixX3s & get_A() const
Return the matrix of friction cone.
const Scalar get_min_nforce() const
Return the minimum normal force.
void set_mu(const Scalar mu)
Modify friction coefficient.
void update()
Update the matrix and bound of friction cone inequalities in the world frame.
FrictionConeTpl(const Matrix3s &R, const Scalar mu, std::size_t nf=4, const bool inner_appr=true, const Scalar min_nforce=Scalar(0.), const Scalar max_nforce=std::numeric_limits< Scalar >::infinity())
Initialize the wrench cone.
DEPRECATED("Use constructor based on rotation matrix.", FrictionConeTpl(const Vector3s &normal, const Scalar mu, std::size_t nf=4, const bool inner_appr=true, const Scalar min_nforce=Scalar(0.), const Scalar max_nforce=std::numeric_limits< Scalar >::infinity());) FrictionConeTpl(const FrictionConeTpl< Scalar > &cone)
Initialize the wrench cone.