#include <multicontact-api/geometry/fwd.hpp>
|
| 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 |
|
◆ DenseIndex
template<typename _Scalar , int _dim, int _Options>
◆ MatrixD
template<typename _Scalar , int _dim, int _Options>
◆ Scalar
template<typename _Scalar , int _dim, int _Options>
◆ VectorD
template<typename _Scalar , int _dim, int _Options>
◆ anonymous enum
template<typename _Scalar , int _dim, int _Options>
◆ SecondOrderCone() [1/2]
template<typename _Scalar , int _dim, int _Options>
◆ SecondOrderCone() [2/2]
template<typename _Scalar , int _dim, int _Options>
◆ check() [1/2]
template<typename _Scalar , int _dim, int _Options>
- Returns
- true if the point is inside the cone
◆ check() [2/2]
template<typename _Scalar , int _dim, int _Options>
◆ computeProjectors()
template<typename _Scalar , int _dim, int _Options>
◆ direction()
template<typename _Scalar , int _dim, int _Options>
- Returns
- the direction of the cone.
◆ disp()
template<typename _Scalar , int _dim, int _Options>
◆ isApprox()
template<typename _Scalar , int _dim, int _Options>
template<typename S2 , int O2>
◆ lhsValue()
template<typename _Scalar , int _dim, int _Options>
- Returns
- the value of lhs of the conic inequality
◆ operator!=()
template<typename _Scalar , int _dim, int _Options>
template<typename S2 , int O2>
◆ operator==()
template<typename _Scalar , int _dim, int _Options>
template<typename S2 , int O2>
◆ Q()
template<typename _Scalar , int _dim, int _Options>
- Returns
- the quadratic term of the lhs norm.
◆ RegularCone()
template<typename _Scalar , int _dim, int _Options>
Build a regular cone from a given friction coefficient and a direction.
- Parameters
-
mu | Friction coefficient. |
direction | Direction of the cone. |
- Returns
- A second order cone.
◆ rhsValue()
template<typename _Scalar , int _dim, int _Options>
- Returns
- the value of rhs of the conic inequality
◆ setDirection()
template<typename _Scalar , int _dim, int _Options>
◆ setQ()
template<typename _Scalar , int _dim, int _Options>
◆ boost::serialization::access
template<typename _Scalar , int _dim, int _Options>
friend class boost::serialization::access |
|
friend |
◆ operator<<
template<typename _Scalar , int _dim, int _Options>
std::ostream& operator<< |
( |
std::ostream & |
os, |
|
|
const SecondOrderCone< _Scalar, _dim, _Options > & |
C |
|
) |
| |
|
friend |
◆ m_direction
template<typename _Scalar , int _dim, int _Options>
◆ m_Pd
template<typename _Scalar , int _dim, int _Options>
Projector along the direction of d.
◆ m_Po
template<typename _Scalar , int _dim, int _Options>
Projector orthogonal to d.
◆ m_Q
template<typename _Scalar , int _dim, int _Options>
Cholesky decomposition matrix reprensenting the conic norm.
◆ m_QPo
template<typename _Scalar , int _dim, int _Options>
Cholesky decomposition projected on the orthogonal of m_direction.
The documentation for this struct was generated from the following files: