crocoddyl  1.3.0
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FrictionConeTpl< _Scalar > Class Template Reference

Public Types

typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix3s Matrix3s
 
typedef MathBase::MatrixX3s MatrixX3s
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::Quaternions Quaternions
 
typedef MathBase::Vector3s Vector3s
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 FrictionConeTpl (const Vector3s &normal, const Scalar &mu, std::size_t nf=4, bool inner_appr=true, const Scalar &min_nforce=Scalar(0.), const Scalar &max_nforce=std::numeric_limits< Scalar >::max())
 
 FrictionConeTpl (const FrictionConeTpl< Scalar > &cone)
 
const MatrixX3s & get_A () const
 
const bool & get_inner_appr () const
 
const VectorXs & get_lb () const
 
const Scalar & get_max_nforce () const
 
const Scalar & get_min_nforce () const
 
const Scalar & get_mu () const
 
const std::size_t & get_nf () const
 
const Vector3s & get_nsurf () const
 
const VectorXs & get_ub () const
 
void update (const Vector3s &normal, const Scalar &mu, bool inner_appr=true, const Scalar &min_nforce=Scalar(0.), const Scalar &max_nforce=std::numeric_limits< Scalar >::max())
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Friends

template<class Scalar >
std::ostream & operator<< (std::ostream &os, const FrictionConeTpl< Scalar > &X)
 

Detailed Description

template<typename _Scalar>
class crocoddyl::FrictionConeTpl< _Scalar >

Definition at line 18 of file friction-cone.hpp.


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