#include <multicontact-api/scenario/contact-model.hpp>
Public Types | |
| typedef Eigen::Matrix< Scalar, 3, 3 > | Matrix3 |
| typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic > | Matrix3X |
| typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic > | Matrix6X |
Public Member Functions | |
| ContactModelTpl () | |
| Default constructor. | |
| ContactModelTpl (const Scalar mu) | |
| Constructor with friction. | |
| ContactModelTpl (const Scalar mu, const ContactType contact_type) | |
| Full constructor. | |
| template<typename S2 > | |
| ContactModelTpl (const ContactModelTpl< S2 > &other) | |
| Copy constructor. | |
| template<typename S2 > | |
| bool | operator== (const ContactModelTpl< S2 > &other) const |
| template<typename S2 > | |
| bool | operator!= (const ContactModelTpl< S2 > &other) const |
| void | disp (std::ostream &os) const |
| size_t | num_contact_points () const |
| void | num_contact_points (const size_t num) |
| Matrix3X | contact_points_positions () const |
| void | contact_points_positions (const Matrix3X &positions) |
| Matrix6X | generatorMatrix () const |
| generatorMatrix Return a 6x(num_contact_points*3) matrix containing the generator used to compute contact forces. | |
Public Member Functions inherited from multicontact_api::serialization::Serializable< ContactModelTpl< _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 |
| Scalar | m_mu |
| Friction coefficient. | |
| ContactType | m_contact_type |
| ZMP radius. | |
Friends | |
| class | boost::serialization::access |
| template<typename S2 > | |
| std::ostream & | operator<< (std::ostream &os, const ContactModelTpl< S2 > &cp) |
| typedef Eigen::Matrix<Scalar, 3, 3> multicontact_api::scenario::ContactModelTpl< _Scalar >::Matrix3 |
| typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic> multicontact_api::scenario::ContactModelTpl< _Scalar >::Matrix3X |
| typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic> multicontact_api::scenario::ContactModelTpl< _Scalar >::Matrix6X |
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Default constructor.
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Constructor with friction.
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Full constructor.
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Copy constructor.
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generatorMatrix Return a 6x(num_contact_points*3) matrix containing the generator used to compute contact forces.
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| ContactType multicontact_api::scenario::ContactModelTpl< _Scalar >::m_contact_type |
ZMP radius.
| Scalar multicontact_api::scenario::ContactModelTpl< _Scalar >::m_mu |
Friction coefficient.
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar multicontact_api::scenario::ContactModelTpl< _Scalar >::Scalar |