#include <multicontact-api/geometry/second-order-cone.hpp>
Public Types | |
| enum | { dim = _dim , Options = _Options } |
| typedef _Scalar | Scalar |
| typedef Eigen::Matrix< Scalar, dim, dim, Options > | MatrixD |
| typedef Eigen::Matrix< Scalar, dim, 1, Options > | VectorD |
| typedef Eigen::DenseIndex | DenseIndex |
Public Member Functions | |
| SecondOrderCone () | |
| SecondOrderCone (const MatrixD &Q, const VectorD &direction) | |
| template<typename S2 , int O2> | |
| bool | operator== (const SecondOrderCone< S2, dim, O2 > &other) const |
| template<typename S2 , int O2> | |
| bool | operator!= (const SecondOrderCone< S2, dim, O2 > &other) const |
| Scalar | lhsValue (const VectorD &point) const |
| Scalar | rhsValue (const VectorD &point) const |
| bool | check (const VectorD &point) const |
| bool | check (const VectorD &point, const Scalar factor) const |
| const VectorD & | direction () const |
| void | setDirection (const VectorD &direction) |
| template<typename S2 , int O2> | |
| bool | isApprox (const SecondOrderCone< S2, dim, O2 > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const |
| const MatrixD & | Q () const |
| void | setQ (const MatrixD &Q) |
| void | disp (std::ostream &os) const |
Public Member Functions inherited from multicontact_api::serialization::Serializable< SecondOrderCone< _Scalar, _dim, _Options > > | |
| 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. | |
Static Public Member Functions | |
| static SecondOrderCone | RegularCone (const Scalar mu, const VectorD &direction) |
| Build a regular cone from a given friction coefficient and a direction. | |
Protected Member Functions | |
| void | computeProjectors () |
Protected Attributes | |
| MatrixD | m_Q |
| Cholesky decomposition matrix reprensenting the conic norm. | |
| MatrixD | m_QPo |
| Cholesky decomposition projected on the orthogonal of m_direction. | |
| VectorD | m_direction |
| Direction of the cone. | |
| MatrixD | m_Pd |
| Projector along the direction of d. | |
| MatrixD | m_Po |
| Projector orthogonal to d. | |
Friends | |
| class | boost::serialization::access |
| std::ostream & | operator<< (std::ostream &os, const SecondOrderCone &C) |
| typedef Eigen::DenseIndex multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::DenseIndex |
| typedef Eigen::Matrix<Scalar, dim, dim, Options> multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::MatrixD |
| typedef _Scalar multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::Scalar |
| typedef Eigen::Matrix<Scalar, dim, 1, Options> multicontact_api::geometry::SecondOrderCone< _Scalar, _dim, _Options >::VectorD |
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Build a regular cone from a given friction coefficient and a direction.
| mu | Friction coefficient. |
| direction | Direction of the cone. |
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Direction of the cone.
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Projector along the direction of d.
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Projector orthogonal to d.
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Cholesky decomposition matrix reprensenting the conic norm.
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Cholesky decomposition projected on the orthogonal of m_direction.