crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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wrench-cone.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2020-2021, 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_WRENCH_CONE_HPP_
10#define CROCODDYL_MULTIBODY_WRENCH_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
29template <typename _Scalar>
31 public:
32 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
33
34 typedef _Scalar Scalar;
36 typedef typename MathBase::Vector2s Vector2s;
37 typedef typename MathBase::Vector3s Vector3s;
38 typedef typename MathBase::Matrix3s Matrix3s;
39 typedef typename MathBase::Matrix6s Matrix6s;
40 typedef typename MathBase::VectorXs VectorXs;
41 typedef typename MathBase::MatrixXs MatrixXs;
42 typedef typename MathBase::MatrixX3s MatrixX3s;
43 typedef typename MathBase::MatrixX6s MatrixX6s;
44 typedef typename MathBase::Quaternions Quaternions;
45
49 explicit WrenchConeTpl();
50
62 WrenchConeTpl(const Matrix3s& R, const Scalar mu, const Vector2s& box, const std::size_t nf = 4,
63 const bool inner_appr = true, const Scalar min_nforce = Scalar(0.),
64 const Scalar max_nforce = std::numeric_limits<Scalar>::infinity());
65 DEPRECATED("Use constructor that includes inner_appr",
66 WrenchConeTpl(const Matrix3s& R, const Scalar mu, const Vector2s& box, std::size_t nf,
67 const Scalar min_nforce,
68 const Scalar max_nforce = std::numeric_limits<Scalar>::infinity());)
69
77
87 void update();
88 DEPRECATED("Use update().",
89 void update(const Matrix3s& R, const Scalar mu, const Vector2s& box, const Scalar min_nforce = Scalar(0.),
90 const Scalar max_nforce = std::numeric_limits<Scalar>::infinity()));
91
95 const MatrixX6s& get_A() const;
96
100 const VectorXs& get_lb() const;
101
105 const VectorXs& get_ub() const;
106
110 std::size_t get_nf() const;
111
115 const Matrix3s& get_R() const;
116
120 const Vector2s& get_box() const;
121
125 const Scalar get_mu() const;
126
130 bool get_inner_appr() const;
131
135 const Scalar get_min_nforce() const;
136
140 const Scalar get_max_nforce() const;
141
147 void set_R(const Matrix3s& R);
148
154 void set_box(const Vector2s& box);
155
161 void set_mu(const Scalar mu);
162
168 void set_inner_appr(const bool inner_appr);
169
175 void set_min_nforce(const Scalar min_nforce);
176
182 void set_max_nforce(const Scalar max_nforce);
183
184 WrenchConeTpl<Scalar>& operator=(const WrenchConeTpl<Scalar>& other);
185
186 template <class Scalar>
187 friend std::ostream& operator<<(std::ostream& os, const WrenchConeTpl<Scalar>& X);
188
189 private:
190 std::size_t nf_;
191 MatrixX6s A_;
192 VectorXs ub_;
193 VectorXs lb_;
194 Matrix3s R_;
195 Vector2s box_;
196 Scalar mu_;
197 bool inner_appr_;
198 Scalar min_nforce_;
199 Scalar max_nforce_;
200};
201
202} // namespace crocoddyl
203
204#include "crocoddyl/multibody/wrench-cone.hxx"
205
206#endif // CROCODDYL_MULTIBODY_WRENCH_CONE_HPP_
This class encapsulates a wrench cone.
Definition: wrench-cone.hpp:30
void set_max_nforce(const Scalar max_nforce)
Modify the maximum normal force.
const VectorXs & get_ub() const
Return the upper bound of inequalities.
bool get_inner_appr() const
Return the label that describes the type of friction cone approximation (inner/outer)
const Vector2s & get_box() const
Return dimension of the foot surface dim = (length, width)
WrenchConeTpl(const Matrix3s &R, const Scalar mu, const Vector2s &box, const 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.
const Matrix3s & get_R() const
Return the rotation matrix that defines the cone orientation w.r.t. the inertial frame.
void set_box(const Vector2s &box)
Modify dimension of the foot surface dim = (length, width)
const Scalar get_max_nforce() const
Return the maximum normal force.
WrenchConeTpl()
Initialize the wrench cone.
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 friction coefficient.
void set_min_nforce(const Scalar min_nforce)
Modify the minium normal force.
std::size_t get_nf() const
Return the number of facets.
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 inequalities.
const Scalar get_min_nforce() const
Return the minimum normal force.
void set_mu(const Scalar mu)
Modify friction coefficient.
const MatrixX6s & get_A() const
Return the matrix of wrench cone.
void update()
Update the matrix of wrench cone inequalities in the world frame.
DEPRECATED("Use constructor that includes inner_appr", WrenchConeTpl(const Matrix3s &R, const Scalar mu, const Vector2s &box, std::size_t nf, const Scalar min_nforce, const Scalar max_nforce=std::numeric_limits< Scalar >::infinity());) WrenchConeTpl(const WrenchConeTpl< Scalar > &cone)
Initialize the wrench cone.