#include <multicontact-api/geometry/linear-cone.hpp>
Public Types | |
enum | { dim = Base::dim } |
typedef WrenchConeTpl< _Scalar, _Options > | WrenchCone |
typedef pinocchio::SE3Tpl< _Scalar, _Options > | SE3 |
typedef MatrixDx | Matrix3x |
typedef VectorD | Vector3 |
typedef Eigen::AngleAxis< Scalar > | AngleAxis |
![]() | |
enum | |
typedef Eigen::Matrix< Scalar, dim, -1, Options > | MatrixDx |
typedef Eigen::Matrix< Scalar, dim, dim, Options > | MatrixD |
typedef Eigen::Matrix< Scalar, dim, 1, Options > | VectorD |
typedef Eigen::DenseIndex | Index |
Public Member Functions | |
ForceConeTpl () | |
Default constructor. More... | |
template<typename EigenDerived > | |
ForceConeTpl (const Eigen::MatrixBase< EigenDerived > &rays) | |
ForceConeTpl (const Index size) | |
WrenchCone | SE3ActOn (const SE3 &M) const |
template<typename S2 , int O2> | |
bool | isApprox (const ForceConeTpl< S2, O2 > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const |
operator WrenchCone () const | |
![]() | |
LinearCone () | |
Default constructor. More... | |
LinearCone (const Eigen::MatrixBase< EigenDerived > &rays) | |
Constructor from a set of rays. More... | |
LinearCone (const Index size) | |
Contrustor from a given size. More... | |
LinearCone (const LinearCone< S2, dim, O2 > &other) | |
Copy constructor. More... | |
void | addRay (const VectorD &ray) |
void | stack (const Eigen::MatrixBase< EigenDerived > &rays) |
void | stack (const LinearCone< S2, dim, O2 > &other) |
const MatrixDx & | rays () const |
MatrixDx & | rays () |
Index | size () const |
bool | operator== (const LinearCone< S2, dim, O2 > &other) const |
bool | operator!= (const LinearCone< S2, dim, O2 > &other) const |
bool | isApprox (const LinearCone< S2, dim, O2 > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const |
void | disp (std::ostream &os) const |
![]() | |
void | loadFromText (const std::string &filename) |
Loads a Derived object from a text file. More... | |
void | saveAsText (const std::string &filename) const |
Saved a Derived object as a text file. More... | |
void | loadFromXML (const std::string &filename, const std::string &tag_name) |
Loads a Derived object from an XML file. More... | |
void | saveAsXML (const std::string &filename, const std::string &tag_name) const |
Saved a Derived object as an XML file. More... | |
void | loadFromBinary (const std::string &filename) |
Loads a Derived object from an binary file. More... | |
void | saveAsBinary (const std::string &filename) const |
Saved a Derived object as an binary file. More... | |
Static Public Member Functions | |
static ForceConeTpl | RegularCone (const Scalar mu, const VectorD &direction, const int num_rays) |
static ForceConeTpl | RegularCone (const Scalar mu, const VectorD &direction, const int num_rays, const Scalar theta_offset) |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef LinearCone< _Scalar, 3, _Options > | Base |
![]() | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Additional Inherited Members | |
![]() | |
MatrixDx | m_rays |
Rays of the linear cone. More... | |
typedef Eigen::AngleAxis<Scalar> multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >::AngleAxis |
typedef MatrixDx multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >::Matrix3x |
typedef pinocchio::SE3Tpl<_Scalar, _Options> multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >::SE3 |
typedef VectorD multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >::Vector3 |
typedef WrenchConeTpl<_Scalar, _Options> multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >::WrenchCone |
|
inline |
Default constructor.
|
inlineexplicit |
|
inlineexplicit |
|
inline |
|
inline |
|
inlinestatic |
|
inlinestatic |
|
inline |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef LinearCone<_Scalar, 3, _Options> multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >::Base |