#include <hpp/rbprm/planner/rbprm-node.hh>
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| RbprmNode (const ConfigurationPtr_t &configuration) |
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| RbprmNode (const ConfigurationPtr_t &configuration, ConnectedComponentPtr_t connectedComponent) |
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fcl::Vec3f | getNormal () |
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void | normal (double x, double y, double z) |
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void | normal (fcl::Vec3f n) |
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RbprmValidationReportPtr_t | getReport () |
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void | collisionReport (RbprmValidationReportPtr_t report) |
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void | setV (MatrixXX V) |
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MatrixXX | getV () |
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void | setIPHat (Matrix6X m) |
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Matrix6X | getIPhat () |
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void | setG (Matrix6X G) |
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Matrix6X | getG () |
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void | setH (Matrix63 H) |
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Matrix63 | getH () |
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void | seth (Vector6 h) |
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Vector6 | geth () |
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void | setNumberOfContacts (size_type n) |
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size_type | getNumberOfContacts () |
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void | fillNodeMatrices (ValidationReportPtr_t report, bool rectangularContact, double sizeFootx, double sizeFooty, double m, double mu, pinocchio::RbPrmDevicePtr_t device) |
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void | chooseBestContactSurface (ValidationReportPtr_t report, hpp::pinocchio::RbPrmDevicePtr_t device) |
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Eigen::Quaterniond | getQuaternion () |
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◆ RbprmNode() [1/2]
hpp::core::RbprmNode::RbprmNode |
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const ConfigurationPtr_t & |
configuration | ) |
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inline |
Constructor
- Parameters
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configuration | configuration stored in the new node |
- Note
- A new connected component is created. For consistency, the new node is not registered in the connected component.
◆ RbprmNode() [2/2]
hpp::core::RbprmNode::RbprmNode |
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const ConfigurationPtr_t & |
configuration, |
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ConnectedComponentPtr_t |
connectedComponent |
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) |
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inline |
Constructor
- Parameters
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configuration | configuration stored in the new node |
connectedComponent | connected component the node belongs to. |
◆ chooseBestContactSurface()
◆ collisionReport()
◆ fillNodeMatrices()
void hpp::core::RbprmNode::fillNodeMatrices |
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ValidationReportPtr_t |
report, |
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bool |
rectangularContact, |
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double |
sizeFootx, |
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double |
sizeFooty, |
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double |
m, |
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double |
mu, |
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pinocchio::RbPrmDevicePtr_t |
device |
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) |
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◆ getG()
◆ getH()
◆ geth()
Vector6 hpp::core::RbprmNode::geth |
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inline |
◆ getIPhat()
Matrix6X hpp::core::RbprmNode::getIPhat |
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◆ getNormal()
fcl::Vec3f hpp::core::RbprmNode::getNormal |
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inline |
◆ getNumberOfContacts()
size_type hpp::core::RbprmNode::getNumberOfContacts |
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inline |
◆ getQuaternion()
Eigen::Quaterniond hpp::core::RbprmNode::getQuaternion |
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◆ getReport()
◆ getV()
◆ normal() [1/2]
void hpp::core::RbprmNode::normal |
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double |
x, |
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double |
y, |
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double |
z |
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) |
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inline |
◆ normal() [2/2]
void hpp::core::RbprmNode::normal |
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fcl::Vec3f |
n | ) |
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◆ setG()
void hpp::core::RbprmNode::setG |
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Matrix6X |
G | ) |
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◆ setH()
void hpp::core::RbprmNode::setH |
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Matrix63 |
H | ) |
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◆ seth()
void hpp::core::RbprmNode::seth |
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Vector6 |
h | ) |
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◆ setIPHat()
void hpp::core::RbprmNode::setIPHat |
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Matrix6X |
m | ) |
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inline |
◆ setNumberOfContacts()
void hpp::core::RbprmNode::setNumberOfContacts |
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size_type |
n | ) |
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inline |
◆ setV()
void hpp::core::RbprmNode::setV |
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MatrixXX |
V | ) |
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inline |
The documentation for this class was generated from the following file: