#include <hpp/constraints/explicit/convex-shape-contact.hh>

Inheritance diagram for hpp::constraints::explicit_::ConvexShapeContact:

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Collaboration diagram for hpp::constraints::explicit_::ConvexShapeContact:

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Public Types
typedef std::tuple< ImplicitPtr_t, ImplicitPtr_t, ExplicitPtr_t >	Constraints_t

Public Member Functions
virtual ImplicitPtr_t	copy () const
	Copy object and return shared pointer to copy.
virtual void	outputValue (LiegroupElementRef result, vectorIn_t qin, LiegroupElementConstRef rhs) const
virtual void	jacobianOutputValue (vectorIn_t qin, LiegroupElementConstRef f_value, LiegroupElementConstRef rhs, matrixOut_t jacobian) const
Public Member Functions inherited from hpp::constraints::Explicit
DifferentiableFunctionPtr_t	explicitFunction () const
const segments_t &	outputConf () const
	Get output configuration variables.
const segments_t &	outputVelocity () const
	Get output degrees of freedom.
const segments_t &	inputConf () const
	Get input configuration variables.
const segments_t &	inputVelocity () const
	Get input degrees of freedom.
Public Member Functions inherited from hpp::constraints::Implicit
bool	operator== (const Implicit &other) const
	Operator equality.
Implicit &	operator= (const Implicit &other)
	Operator assignation.
virtual	~Implicit ()
const ComparisonTypes_t &	comparisonType () const
	Return the ComparisonType.
void	comparisonType (const ComparisonTypes_t &comp)
	Set the comparison type.
const segments_t &	activeRows () const
bool	checkAllRowsActive () const
	Check if all rows are active (no inactive rows).
const Eigen::RowBlockIndices &	equalityIndices () const
	Get indices of constraint coordinates that are equality.
void	setInactiveRowsToZero (vectorOut_t error) const
DifferentiableFunction &	function () const
	Return a reference to function \(h\).
const DifferentiableFunctionPtr_t &	functionPtr () const
	Return a reference to function \(h\).
virtual std::pair< JointConstPtr_t, JointConstPtr_t >	doesConstrainRelPoseBetween (DeviceConstPtr_t robot) const
void	rightHandSideFromConfig (ConfigurationIn_t config, LiegroupElementRef rhs)
bool	checkRightHandSide (LiegroupElementConstRef rhs) const
size_type	parameterSize () const
size_type	rightHandSideSize () const
void	rightHandSideFunction (const DifferentiableFunctionPtr_t &rhsF)
const DifferentiableFunctionPtr_t &	rightHandSideFunction () const
vectorIn_t	rightHandSideAt (const value_type &s)

Static Public Member Functions
static ConvexShapeContactPtr_t	create (const std::string &name, DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces, const value_type &margin)
static Constraints_t	createConstraintAndComplement (const std::string &name, DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces, const value_type &margin)
static ConvexShapeContactPtr_t	createCopy (const ConvexShapeContactPtr_t &other)
	Create copy and return shared pointer.
Static Public Member Functions inherited from hpp::constraints::Explicit
static ExplicitPtr_t	create (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp=ComparisonTypes_t(), std::vector< bool > mask=std::vector< bool >())
static ExplicitPtr_t	createCopy (const ExplicitPtr_t &other)
	Create a copy and return shared pointer.
Static Public Member Functions inherited from hpp::constraints::Implicit
static ImplicitPtr_t	create (const DifferentiableFunctionPtr_t &func, ComparisonTypes_t comp, std::vector< bool > mask=std::vector< bool >())
static ImplicitPtr_t	createCopy (const ImplicitPtr_t &other)
	Create a copy and return shared pointer.

Protected Member Functions

ConvexShapeContact (const std::string &name, DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces, const value_type &margin)

void init (ConvexShapeContactWkPtr_t weak)

Store weak pointer to itself.

Protected Member Functions inherited from hpp::constraints::Explicit

Explicit (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp, std::vector< bool > mask)

Explicit (const DifferentiableFunctionPtr_t &implicitFunction, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp, std::vector< bool > mask)

(const LiegroupSpacePtr_t&, constDifferentiableFunctionPtr_t&, const segments_t& inputConf, constsegments_t& outputConf, const segments_t& inputVelocity, constsegments_t&, const ComparisonTypes_t&);

Parameters

implicitFunction

Explicit (const Explicit &other)

Copy constructor.

bool isEqual (const Implicit &other, bool swapAndTest) const

void init (const ExplicitWkPtr_t &weak)

Explicit ()

Protected Member Functions inherited from hpp::constraints::Implicit

Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, std::vector< bool > mask)

Implicit (const Implicit &other)

Copy constructor.

void init (const ImplicitWkPtr_t &weak)

Implicit ()

Additional Inherited Members
Protected Attributes inherited from hpp::constraints::Explicit
DifferentiableFunctionPtr_t	inputToOutput_
segments_t	inputConf_
segments_t	outputConf_
segments_t	inputVelocity_
segments_t	outputVelocity_

Member Typedef Documentation

◆ Constraints_t

typedef std::tuple<ImplicitPtr_t, ImplicitPtr_t, ExplicitPtr_t> hpp::constraints::explicit_::ConvexShapeContact::Constraints_t

Constructor & Destructor Documentation

◆ ConvexShapeContact()

hpp::constraints::explicit_::ConvexShapeContact::ConvexShapeContact	(	const std::string &	name,
		DevicePtr_t	robot,
		const JointAndShapes_t &	floorSurfaces,
		const JointAndShapes_t &	objectSurfaces,
		const value_type &	margin )

protected

Constructor

Parameters

robot	the robot holding the floor and object contact surfaces,
floorSurfaces	set of surfaces on which object are placed,
objectSurfaces	set of surfaces that come in contact with floor surfaces.
margin	distance between surfaces at contact to avoid collision.

Member Function Documentation

◆ copy()

virtual ImplicitPtr_t hpp::constraints::explicit_::ConvexShapeContact::copy ( ) const

virtual

Copy object and return shared pointer to copy.

Reimplemented from hpp::constraints::Explicit.

◆ create()

ConvexShapeContactPtr_t hpp::constraints::explicit_::ConvexShapeContact::create	(	const std::string &	name,
		DevicePtr_t	robot,
		const JointAndShapes_t &	floorSurfaces,
		const JointAndShapes_t &	objectSurfaces,
		const value_type &	margin )

static

Create instance and return shared pointer

Parameters

robot	the robot holding the floor and object contact surfaces,
floorSurfaces	set of surfaces on which object are placed,
objectSurfaces	set of surfaces that come in contact with floor surfaces.
margin	distance between surfaces at contact to avoid collision.

◆ createConstraintAndComplement()

Constraints_t hpp::constraints::explicit_::ConvexShapeContact::createConstraintAndComplement	(	const std::string &	name,
		DevicePtr_t	robot,
		const JointAndShapes_t &	floorSurfaces,
		const JointAndShapes_t &	objectSurfaces,
		const value_type &	margin )

static

Create 3 constraints

Parameters

robot	the robot holding the floor and object contact surfaces,
floorSurfaces	set of surfaces on which object are placed,
objectSurfaces	set of surfaces that come in contact with floor surfaces,
margin	distance between surfaces at contact to avoid collision.

Returns

a tuple containing

a contact constraint (see function ConvexShapeContact),
the complement constraint (see function ConvexShapeContactComplement),
an explicit constraint corresponding to the combination of the former constraints.

◆ createCopy()

ConvexShapeContactPtr_t hpp::constraints::explicit_::ConvexShapeContact::createCopy ( const ConvexShapeContactPtr_t & other )

static

Create copy and return shared pointer.

◆ init()

void hpp::constraints::explicit_::ConvexShapeContact::init ( ConvexShapeContactWkPtr_t weak )

protected

Store weak pointer to itself.

◆ jacobianOutputValue()

virtual void hpp::constraints::explicit_::ConvexShapeContact::jacobianOutputValue	(	vectorIn_t	qin,
		LiegroupElementConstRef	f_value,
		LiegroupElementConstRef	rhs,
		matrixOut_t	jacobian ) const

virtual

Compute Jacobian of output value

\begin{eqnarray*}J &=& \frac{\partial}{\partial\mathbf{q}_{in}} \left(f(\mathbf{q}_{in}) + rhs\right). \end{eqnarray*}

Parameters

qin	vector of input variables,
f_value	\(f(\mathbf{q}_{in})\) provided to avoid recomputation,
rhs	right hand side (of implicit formulation).

Reimplemented from hpp::constraints::Explicit.

◆ outputValue()

virtual void hpp::constraints::explicit_::ConvexShapeContact::outputValue	(	LiegroupElementRef	result,
		vectorIn_t	qin,
		LiegroupElementConstRef	rhs ) const

virtual

Compute the object pose with respect

Parameters

qin	input configuration variables,
rhs	right hand side of constraint (of implicit formulation).

The right hand side contains the following information:

which floor surface is in contact with with object surface,
the relative position of those surfaces.

Reimplemented from hpp::constraints::Explicit.

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

include/hpp/constraints/explicit/convex-shape-contact.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ Constraints_t

Constructor & Destructor Documentation

◆ ConvexShapeContact()

Member Function Documentation

◆ copy()

◆ create()

◆ createConstraintAndComplement()

◆ createCopy()

◆ init()

◆ jacobianOutputValue()

◆ outputValue()