#include <multicontact-api/scenario/contact-patch.hpp>
Public Types | |
| typedef ContactModelTpl< _Scalar > | ContactModel |
| typedef pinocchio::SE3Tpl< Scalar, 0 > | SE3 |
Public Member Functions | |
| ContactPatchTpl () | |
| Default constructor. | |
| ContactPatchTpl (const SE3 &placement) | |
| Init contact patch from a given placement. | |
| ContactPatchTpl (const SE3 &placement, const Scalar mu) | |
| Init contact patch from a given placement and a friction coefficient. | |
| ContactPatchTpl (const SE3 &placement, const ContactModel contact_model) | |
| Init contact patch from a given placement and a contact model. | |
| ContactPatchTpl (const ContactPatchTpl &other) | |
| Copy constructor. | |
| const SE3 & | placement () const |
| SE3 & | placement () |
| const Scalar & | friction () const |
| Scalar & | friction () |
| template<typename S2 > | |
| bool | operator== (const ContactPatchTpl< S2 > &other) const |
| template<typename S2 > | |
| bool | operator!= (const ContactPatchTpl< S2 > &other) const |
| void | disp (std::ostream &os) const |
Public Member Functions inherited from multicontact_api::serialization::Serializable< ContactPatchTpl< _Scalar > > | |
| void | loadFromText (const std::string &filename) |
| Loads a Derived object from a text file. | |
| void | saveAsText (const std::string &filename) const |
| Saved a Derived object as a text file. | |
| void | loadFromXML (const std::string &filename, const std::string &tag_name) |
| Loads a Derived object from an XML file. | |
| void | saveAsXML (const std::string &filename, const std::string &tag_name) const |
| Saved a Derived object as an XML file. | |
| void | loadFromBinary (const std::string &filename) |
| Loads a Derived object from an binary file. | |
| void | saveAsBinary (const std::string &filename) const |
| Saved a Derived object as an binary file. | |
Public Attributes | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
| ContactModel | m_contact_model |
| Contact model of this contact. | |
Protected Attributes | |
| SE3 | m_placement |
| Placement of the contact patch. | |
Friends | |
| class | boost::serialization::access |
| template<typename S2 > | |
| std::ostream & | operator<< (std::ostream &os, const ContactPatchTpl< S2 > &cp) |
| typedef ContactModelTpl<_Scalar> multicontact_api::scenario::ContactPatchTpl< _Scalar >::ContactModel |
| typedef pinocchio::SE3Tpl<Scalar, 0> multicontact_api::scenario::ContactPatchTpl< _Scalar >::SE3 |
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Default constructor.
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Init contact patch from a given placement.
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Init contact patch from a given placement and a friction coefficient.
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Init contact patch from a given placement and a contact model.
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Copy constructor.
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| ContactModel multicontact_api::scenario::ContactPatchTpl< _Scalar >::m_contact_model |
Contact model of this contact.
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protected |
Placement of the contact patch.
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar multicontact_api::scenario::ContactPatchTpl< _Scalar >::Scalar |