multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options > Struct Template Reference

#include <multicontact-api/geometry/fwd.hpp>

Collaboration diagram for multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >:

Public Types

enum  { dim = Base::dim }
 
typedef ForceConeTpl< _Scalar, _Options > ForceCone
 
typedef pinocchio::SE3Tpl< _Scalar, _Options > SE3
 
typedef MatrixDx Matrix6x
 
typedef VectorD Vector6
 
typedef ForceCone::Matrix3x Matrix3x
 
typedef Matrix6x::template NRowsBlockXpr< 3 >::Type LinearBlock
 
typedef Matrix6x::template ConstNRowsBlockXpr< 3 >::Type ConstLinearBlock
 
typedef LinearBlock AngularBlock
 
typedef ConstLinearBlock ConstAngularBlock
 

Public Member Functions

 WrenchConeTpl ()
 Default constructor. More...
 
template<typename EigenDerived >
 WrenchConeTpl (const Eigen::MatrixBase< EigenDerived > &rays)
 Constructor from a set of rays. More...
 
 WrenchConeTpl (const Index size)
 Constructs a WrenchCone of a given size. More...
 
template<typename S2 , int O2>
 WrenchConeTpl (const ForceConeTpl< S2, O2 > &force_cone)
 Constructs a WrenchCone of a given size. More...
 
template<typename S2 , int O2>
 WrenchConeTpl (const WrenchConeTpl< S2, O2 > &other)
 Copy constructor. More...
 
WrenchConeTpl SE3ActOn (const SE3 &M) const
 
template<typename S2 , int O2>
bool isApprox (const WrenchConeTpl< S2, O2 > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
ConstLinearBlock linear () const
 
LinearBlock linear ()
 
ConstAngularBlock angular () const
 
AngularBlock angular ()
 
ForceCone toForceCone () const
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef LinearCone< _Scalar, 6, _Options > Base
 

Member Typedef Documentation

◆ AngularBlock

template<typename _Scalar , int _Options>
typedef LinearBlock multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::AngularBlock

◆ ConstAngularBlock

template<typename _Scalar , int _Options>
typedef ConstLinearBlock multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::ConstAngularBlock

◆ ConstLinearBlock

template<typename _Scalar , int _Options>
typedef Matrix6x::template ConstNRowsBlockXpr<3>::Type multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::ConstLinearBlock

◆ ForceCone

template<typename _Scalar , int _Options>
typedef ForceConeTpl<_Scalar, _Options> multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::ForceCone

◆ LinearBlock

template<typename _Scalar , int _Options>
typedef Matrix6x::template NRowsBlockXpr<3>::Type multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::LinearBlock

◆ Matrix3x

template<typename _Scalar , int _Options>
typedef ForceCone::Matrix3x multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::Matrix3x

◆ Matrix6x

template<typename _Scalar , int _Options>
typedef MatrixDx multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::Matrix6x

◆ SE3

template<typename _Scalar , int _Options>
typedef pinocchio::SE3Tpl<_Scalar, _Options> multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::SE3

◆ Vector6

template<typename _Scalar , int _Options>
typedef VectorD multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::Vector6

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar , int _Options>
anonymous enum
Enumerator
dim 

Constructor & Destructor Documentation

◆ WrenchConeTpl() [1/5]

template<typename _Scalar , int _Options>
multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::WrenchConeTpl ( )
inline

Default constructor.

◆ WrenchConeTpl() [2/5]

template<typename _Scalar , int _Options>
template<typename EigenDerived >
multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::WrenchConeTpl ( const Eigen::MatrixBase< EigenDerived > &  rays)
inlineexplicit

Constructor from a set of rays.

◆ WrenchConeTpl() [3/5]

template<typename _Scalar , int _Options>
multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::WrenchConeTpl ( const Index  size)
inlineexplicit

Constructs a WrenchCone of a given size.

◆ WrenchConeTpl() [4/5]

template<typename _Scalar , int _Options>
template<typename S2 , int O2>
multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::WrenchConeTpl ( const ForceConeTpl< S2, O2 > &  force_cone)
inlineexplicit

Constructs a WrenchCone of a given size.

◆ WrenchConeTpl() [5/5]

template<typename _Scalar , int _Options>
template<typename S2 , int O2>
multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::WrenchConeTpl ( const WrenchConeTpl< S2, O2 > &  other)
inline

Copy constructor.

Member Function Documentation

◆ angular() [1/2]

template<typename _Scalar , int _Options>
AngularBlock multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::angular ( )
inline

◆ angular() [2/2]

template<typename _Scalar , int _Options>
ConstAngularBlock multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::angular ( ) const
inline

◆ isApprox()

template<typename _Scalar , int _Options>
template<typename S2 , int O2>
bool multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::isApprox ( const WrenchConeTpl< S2, O2 > &  other,
const Scalar &  prec = Eigen::NumTraits<Scalar>::dummy_precision() 
) const
inline

◆ linear() [1/2]

template<typename _Scalar , int _Options>
LinearBlock multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::linear ( )
inline

◆ linear() [2/2]

template<typename _Scalar , int _Options>
ConstLinearBlock multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::linear ( ) const
inline

◆ SE3ActOn()

template<typename _Scalar , int _Options>
WrenchConeTpl multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::SE3ActOn ( const SE3 M) const
inline

◆ toForceCone()

template<typename _Scalar , int _Options>
ForceCone multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::toForceCone ( ) const
inline

Member Data Documentation

◆ Base

template<typename _Scalar , int _Options>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef LinearCone<_Scalar, 6, _Options> multicontact_api::geometry::WrenchConeTpl< _Scalar, _Options >::Base

The documentation for this struct was generated from the following files: