#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. More... | |
ContactPatchTpl (const SE3 &placement) | |
Init contact patch from a given placement. More... | |
ContactPatchTpl (const SE3 &placement, const Scalar mu) | |
Init contact patch from a given placement and a friction coefficient. More... | |
ContactPatchTpl (const SE3 &placement, const ContactModel contact_model) | |
Init contact patch from a given placement and a contact model. More... | |
ContactPatchTpl (const ContactPatchTpl &other) | |
Copy constructor. More... | |
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 |
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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... | |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
ContactModel | m_contact_model |
Contact model of this contact. More... | |
Protected Attributes | |
SE3 | m_placement |
Placement of the contact patch. More... | |
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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Placement of the contact patch.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar multicontact_api::scenario::ContactPatchTpl< _Scalar >::Scalar |