#include <hpp/constraints/static-stability.hh>
Public Member Functions | |
StaticStabilityGravity (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint) | |
Constructor. More... | |
void | addObjectTriangle (const fcl::TriangleP &t) |
void | addFloorTriangle (const fcl::TriangleP &t) |
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virtual | ~DifferentiableFunction () |
void | operator() (vectorOut_t result, vectorIn_t argument) const |
Evaluate the function at a given parameter. More... | |
void | jacobian (matrixOut_t jacobian, vectorIn_t argument) const |
Computes the jacobian. More... | |
size_type | inputSize () const |
Get dimension of input vector. More... | |
size_type | inputDerivativeSize () const |
Get dimension of input derivative vector. More... | |
size_type | outputSize () const |
Get dimension of output vector. More... | |
const std::string & | name () const |
Get function name. More... | |
virtual std::ostream & | print (std::ostream &o) const |
Display object in a stream. More... | |
Static Public Member Functions | |
static StaticStabilityGravityPtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint) |
static StaticStabilityGravityPtr_t | create (const DevicePtr_t &robot, const JointPtr_t &joint) |
Static Public Attributes | |
static fcl::Vec3f | gravity |
Additional Inherited Members | |
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DifferentiableFunction (size_type inputSize, size_type inputDerivativeSize, size_type outputSize, std::string name=std::string()) | |
Concrete class constructor should call this constructor. More... | |
virtual void | impl_compute (vectorOut_t result, vectorIn_t argument) const =0 |
User implementation of function evaluation. More... | |
virtual void | impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0 |
hpp::constraints::StaticStabilityGravity::StaticStabilityGravity | ( | const std::string & | name, |
const DevicePtr_t & | robot, | ||
const JointPtr_t & | joint | ||
) |
Constructor.
robot | the robot the constraints is applied to, |
joint | the joint to which the object is attached, |
com | COM of the object in the joint frame. |
void hpp::constraints::StaticStabilityGravity::addFloorTriangle | ( | const fcl::TriangleP & | t | ) |
void hpp::constraints::StaticStabilityGravity::addObjectTriangle | ( | const fcl::TriangleP & | t | ) |
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