hpp::constraints::StaticStabilityGravity Class Reference

#include <hpp/constraints/static-stability.hh>

Inheritance diagram for hpp::constraints::StaticStabilityGravity:
Collaboration diagram for hpp::constraints::StaticStabilityGravity:

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)
 
- Public Member Functions inherited from hpp::constraints::DifferentiableFunction
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

- Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
 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
 

Constructor & Destructor Documentation

◆ StaticStabilityGravity()

hpp::constraints::StaticStabilityGravity::StaticStabilityGravity ( const std::string &  name,
const DevicePtr_t robot,
const JointPtr_t joint 
)

Constructor.

Parameters
robotthe robot the constraints is applied to,
jointthe joint to which the object is attached,
comCOM of the object in the joint frame.

Member Function Documentation

◆ addFloorTriangle()

void hpp::constraints::StaticStabilityGravity::addFloorTriangle ( const fcl::TriangleP &  t)

◆ addObjectTriangle()

void hpp::constraints::StaticStabilityGravity::addObjectTriangle ( const fcl::TriangleP &  t)

◆ create() [1/2]

static StaticStabilityGravityPtr_t hpp::constraints::StaticStabilityGravity::create ( const std::string &  name,
const DevicePtr_t robot,
const JointPtr_t joint 
)
static

◆ create() [2/2]

static StaticStabilityGravityPtr_t hpp::constraints::StaticStabilityGravity::create ( const DevicePtr_t robot,
const JointPtr_t joint 
)
static

Member Data Documentation

◆ gravity

fcl::Vec3f hpp::constraints::StaticStabilityGravity::gravity
static