1 #ifndef HPP_RBPRM_NODE_HH 2 #define HPP_RBPRM_NODE_HH 4 #include <hpp/core/node.hh> 6 #include <hpp/centroidal-dynamics/centroidal_dynamics.hh> 28 RbprmNode(
const ConfigurationPtr_t& configuration) : Node(configuration) {}
32 RbprmNode(
const ConfigurationPtr_t& configuration, ConnectedComponentPtr_t connectedComponent)
33 : Node(configuration, connectedComponent) {}
37 void normal(
double x,
double y,
double z) {
38 fcl::Vec3f n(x, y, z);
42 void normal(fcl::Vec3f n) { normal_ = n; }
48 void setV(MatrixXX V) { V_ = V; }
50 MatrixXX
getV() {
return V_; }
56 void setG(Matrix6X G) { G_ = G; }
58 Matrix6X
getG() {
return G_; }
60 void setH(Matrix63 H) { H_ = H; }
62 Matrix63
getH() {
return H_; }
64 void seth(Vector6 h) { h_ = h; }
66 Vector6
geth() {
return h_; }
72 void fillNodeMatrices(ValidationReportPtr_t report,
bool rectangularContact,
double sizeFootx,
double sizeFooty,
77 Eigen::Quaterniond getQuaternion();
90 size_type numberOfContacts_;
97 #endif // HPP_RBPRM_NODE_HH Vector6 geth()
Definition: rbprm-node.hh:66
void collisionReport(RbprmValidationReportPtr_t report)
Definition: rbprm-node.hh:46
std::shared_ptr< RbPrmDevice > RbPrmDevicePtr_t
Definition: dynamic-validation.hh:27
void setG(Matrix6X G)
Definition: rbprm-node.hh:56
fcl::Vec3f getNormal()
Definition: rbprm-node.hh:35
Definition: algorithm.hh:27
Matrix63 getH()
Definition: rbprm-node.hh:62
RbprmNode * RbprmNodePtr_t
Definition: rbprm-node.hh:16
void setV(MatrixXX V)
Definition: rbprm-node.hh:48
void setH(Matrix63 H)
Definition: rbprm-node.hh:60
RbprmValidationReportPtr_t getReport()
Definition: rbprm-node.hh:44
Matrix6X getG()
Definition: rbprm-node.hh:58
Definition: rbprm-node.hh:22
centroidal_dynamics::MatrixXX MatrixXX
Definition: rbprm-node.hh:18
MatrixXX getV()
Definition: rbprm-node.hh:50
size_type getNumberOfContacts()
Definition: rbprm-node.hh:70
centroidal_dynamics::Matrix63 Matrix63
Definition: rbprm-node.hh:20
void setNumberOfContacts(size_type n)
Definition: rbprm-node.hh:68
HPP_PREDEF_CLASS(RbPrmDevice)
std::shared_ptr< RbprmValidationReport > RbprmValidationReportPtr_t
Definition: rbprm-validation-report.hh:29
void normal(double x, double y, double z)
Definition: rbprm-node.hh:37
Matrix6X getIPhat()
Definition: rbprm-node.hh:54
void setIPHat(Matrix6X m)
Definition: rbprm-node.hh:52
RbprmNode(const ConfigurationPtr_t &configuration)
Definition: rbprm-node.hh:28
centroidal_dynamics::Matrix6X Matrix6X
Definition: rbprm-node.hh:19
RbprmNode(const ConfigurationPtr_t &configuration, ConnectedComponentPtr_t connectedComponent)
Definition: rbprm-node.hh:32
void normal(fcl::Vec3f n)
Definition: rbprm-node.hh:42
centroidal_dynamics::Vector6 Vector6
Definition: rbprm-node.hh:21
void seth(Vector6 h)
Definition: rbprm-node.hh:64