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

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

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

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
 

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
 

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
 

Member Typedef Documentation

◆ AngleAxis

template<typename _Scalar , int _Options>
typedef Eigen::AngleAxis<Scalar> multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >::AngleAxis

◆ Matrix3x

template<typename _Scalar , int _Options>
typedef MatrixDx multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >::Matrix3x

◆ SE3

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

◆ Vector3

template<typename _Scalar , int _Options>
typedef VectorD multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >::Vector3

◆ WrenchCone

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

Member Enumeration Documentation

◆ anonymous enum

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

Constructor & Destructor Documentation

◆ ForceConeTpl() [1/3]

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

Default constructor.

◆ ForceConeTpl() [2/3]

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

◆ ForceConeTpl() [3/3]

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

Member Function Documentation

◆ isApprox()

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

◆ operator WrenchCone()

template<typename _Scalar , int _Options>
multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >::operator WrenchCone ( ) const
inline

◆ RegularCone() [1/2]

template<typename _Scalar , int _Options>
static ForceConeTpl multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >::RegularCone ( const Scalar  mu,
const VectorD &  direction,
const int  num_rays 
)
inlinestatic
Returns
a linear cone built from a friction coefficient and the number of rays along the Z axis.

◆ RegularCone() [2/2]

template<typename _Scalar , int _Options>
static ForceConeTpl multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >::RegularCone ( const Scalar  mu,
const VectorD &  direction,
const int  num_rays,
const Scalar  theta_offset 
)
inlinestatic

◆ SE3ActOn()

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

Member Data Documentation

◆ Base

template<typename _Scalar , int _Options>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef LinearCone<_Scalar, 3, _Options> multicontact_api::geometry::ForceConeTpl< _Scalar, _Options >::Base

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