The sequence of contact status and discrete events (impact and lift). More...

#include <contact_sequence.hpp>

Public Member Functions
	ContactSequence (const Robot &robot, const int reserved_num_discrete_events=0)
	Constructor. More...

	ContactSequence ()
	Default constructor. More...

	~ContactSequence ()=default
	Default destructor. More...

	ContactSequence (const ContactSequence &)=default
	Default copy constructor. More...

ContactSequence &	operator= (const ContactSequence &)=default
	Default copy assign operator. More...

	ContactSequence (ContactSequence &&) noexcept=default
	Default move constructor. More...

ContactSequence &	operator= (ContactSequence &&) noexcept=default
	Default move assign operator. More...

void	init (const ContactStatus &contact_status)
	Sets the contact status over all of the time stages uniformly. Also, disable discrete events over all of the time stages. More...

void	push_back (const DiscreteEvent &discrete_event, const double event_time, const bool sto=false)
	Push back the discrete event. Contact status after discrete event is also appended according to discrete_event. More...

void	push_back (const ContactStatus &contact_status, const double switching_time, const bool sto=false)
	Push back the contact sequence. A discrete event is automatically generated by last contact status of this contact sequence and input contact_status. More...

void	pop_back ()
	Pop back the discrete event. Contact status after discrete event is also removed. More...

void	pop_front ()
	Pop front the discrete event. Contact status before the front discrete event is also removed. More...

void	setImpactTime (const int impact_index, const double impact_time)
	Sets the time of the impact event. More...

void	setLiftTime (const int lift_index, const double lift_time)
	Sets the time of the lift event. More...

bool	isSTOEnabledImpact (const int impact_index) const
	Checks wheather the STO is enabled for the specified impact event. More...

bool	isSTOEnabledLift (const int lift_index) const
	Checks wheather the STO is enabled for the specified lift event. More...

bool	isEventTimeConsistent () const
	Checks wheather the event times are consistent. More...

void	setContactPlacements (const int contact_phase, const std::vector< Eigen::Vector3d > &contact_positions)
	Sets the contact placements (positions and rotations) to contact statsus with specified contact phase. The rotations are set to Eigen::Matrix3d::Identity(). Also sets the contact placement of the discrete event just before the contact phase. More...

void	setContactPlacements (const int contact_phase, const std::vector< Eigen::Vector3d > &contact_positions, const std::vector< Eigen::Matrix3d > &contact_rotations)
	Sets the contact placements (positions and rotations) to contact statsus with specified contact phase. Also set the contact placement of the discrete event just before the contact phase. More...

void	setContactPlacements (const int contact_phase, const aligned_vector< SE3 > &contact_placements)
	Sets the contact placements (positions and rotations) to contact statsus with specified contact phase. Also set the contact placement of the discrete event just before the contact phase. More...

void	setFrictionCoefficients (const int contact_phase, const std::vector< double > &friction_coefficients)
	Sets the friction coefficients. Also sets the friction coefficients of the discrete event just before the contact phase. More...

int	numContactPhases () const
	Returns number of contact phases. More...

int	numDiscreteEvents () const
	Returns number of discrete events, i.e., sum of numImpactEvents() and numLiftEvents(). More...

int	numImpactEvents () const
	Returns number of impact events. More...

int	numLiftEvents () const
	Returns number of lift events. More...

const ContactStatus &	contactStatus (const int contact_phase) const
	Gets the contact status. More...

const ImpactStatus &	impactStatus (const int impact_index) const
	Gets the impact status. More...

double	impactTime (const int impact_index) const
	Returns impact event time. More...

double	liftTime (const int lift_index) const
	Returns lift event time. More...

DiscreteEventType	eventType (const int event_index) const
	Returns the event type of the specified discrete event. More...

const std::deque< double > &	eventTimes () const
	Returns the event times of each event. More...

void	reserve (const int reserved_num_discrete_events)
	Reserves each discrete events (impact and lift) to avoid dynamic memory allocation. More...

int	reservedNumDiscreteEvents () const
	Returns reserved size of container of each discrete events. More...

void	disp (std::ostream &os) const
	Displays the contact sequence onto a ostream. More...

Friends
std::ostream &	operator<< (std::ostream &os, const ContactSequence &contact_sequence)

std::ostream &	operator<< (std::ostream &os, const std::shared_ptr< ContactSequence > &contact_sequence)

Detailed Description

The sequence of contact status and discrete events (impact and lift).

Constructor & Destructor Documentation

◆ ContactSequence() [1/4]

robotoc::ContactSequence::ContactSequence	(	const Robot &	robot,
		const int	reserved_num_discrete_events = `0`
	)

Constructor.

Parameters

[in]	robot	Robot model.
[in]	reserved_num_discrete_events	Reserved number of each discrete events (impact and lift) to avoid dynamic memory allocation. Must be non-negative. Default is 0.

◆ ContactSequence() [2/4]

robotoc::ContactSequence::ContactSequence ( )

Default constructor.

◆ ~ContactSequence()

robotoc::ContactSequence::~ContactSequence ( )

default

Default destructor.

◆ ContactSequence() [3/4]

robotoc::ContactSequence::ContactSequence ( const ContactSequence & )

default

Default copy constructor.

◆ ContactSequence() [4/4]

robotoc::ContactSequence::ContactSequence ( ContactSequence && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ contactStatus()

const ContactStatus & robotoc::ContactSequence::contactStatus ( const int contact_phase ) const

inline

Gets the contact status.

Parameters

[in] contact_phase Index of contact status phase.

Returns: const reference to the contact status.

◆ disp()

void robotoc::ContactSequence::disp ( std::ostream & os ) const

Displays the contact sequence onto a ostream.

◆ eventTimes()

const std::deque< double > & robotoc::ContactSequence::eventTimes ( ) const

inline

Returns the event times of each event.

Returns: const reference to the event times.

◆ eventType()

DiscreteEventType robotoc::ContactSequence::eventType ( const int event_index ) const

inline

Returns the event type of the specified discrete event.

Parameters

[in] event_index Index of the discrete event. Must be less than ContactSequence::numDiscreteEvents().

Returns: The event type of the specified discrete event.

◆ impactStatus()

const ImpactStatus & robotoc::ContactSequence::impactStatus ( const int impact_index ) const

inline

Gets the impact status.

Parameters

[in] impact_index Index of impact event.

Returns: const reference to the impact status.

◆ impactTime()

double robotoc::ContactSequence::impactTime ( const int impact_index ) const

inline

Returns impact event time.

Returns: Impact event time.

◆ init()

void robotoc::ContactSequence::init ( const ContactStatus & contact_status )

Sets the contact status over all of the time stages uniformly. Also, disable discrete events over all of the time stages.

Parameters

[in] contact_status Contact status.

◆ isEventTimeConsistent()

bool robotoc::ContactSequence::isEventTimeConsistent ( ) const

Checks wheather the event times are consistent.

Returns: true if there is no problem. false if not.

◆ isSTOEnabledImpact()

bool robotoc::ContactSequence::isSTOEnabledImpact ( const int impact_index ) const

Checks wheather the STO is enabled for the specified impact event.

Parameters

[in] impact_index Index of the impact of interest.

Returns: true if the STO is enabled. false if not.

◆ isSTOEnabledLift()

bool robotoc::ContactSequence::isSTOEnabledLift ( const int lift_index ) const

Checks wheather the STO is enabled for the specified lift event.

Parameters

[in] lift_index Index of the lift of interest.

Returns: true if the STO is enabled. false if not.

◆ liftTime()

double robotoc::ContactSequence::liftTime ( const int lift_index ) const

inline

Returns lift event time.

Returns: Lift event time.

◆ numContactPhases()

int robotoc::ContactSequence::numContactPhases ( ) const

inline

Returns number of contact phases.

Returns: Number of contact phases.

◆ numDiscreteEvents()

int robotoc::ContactSequence::numDiscreteEvents ( ) const

inline

Returns number of discrete events, i.e., sum of numImpactEvents() and numLiftEvents().

Returns: Number of discrete events.

◆ numImpactEvents()

int robotoc::ContactSequence::numImpactEvents ( ) const

inline

Returns number of impact events.

Returns: Number of impact events.

◆ numLiftEvents()

int robotoc::ContactSequence::numLiftEvents ( ) const

inline

Returns number of lift events.

Returns: Number of lift events.

◆ operator=() [1/2]

ContactSequence & robotoc::ContactSequence::operator= ( const ContactSequence & )

default

Default copy assign operator.

◆ operator=() [2/2]

ContactSequence & robotoc::ContactSequence::operator= ( ContactSequence && )

defaultnoexcept

Default move assign operator.

◆ pop_back()

void robotoc::ContactSequence::pop_back ( )

Pop back the discrete event. Contact status after discrete event is also removed.

◆ pop_front()

void robotoc::ContactSequence::pop_front ( )

Pop front the discrete event. Contact status before the front discrete event is also removed.

◆ push_back() [1/2]

void robotoc::ContactSequence::push_back	(	const ContactStatus &	contact_status,
		const double	switching_time,
		const bool	sto = `false`
	)

Push back the contact sequence. A discrete event is automatically generated by last contact status of this contact sequence and input contact_status.

Parameters

[in]	contact_status	Contact status.
[in]	switching_time	Time of the switch of the last contact status of this contact sequence and the input contact status.
[in]	sto	if true, the switching time optimization (STO) is enabled for this discrete event. if false, it is disabled. Default is false.

Note: If switching_time is larger than the terminal time of the optimal control problem (t+T), then the discrete event and the contact status after the discrete event is not considered in the optimization problem.

◆ push_back() [2/2]

void robotoc::ContactSequence::push_back	(	const DiscreteEvent &	discrete_event,
		const double	event_time,
		const bool	sto = `false`
	)

Push back the discrete event. Contact status after discrete event is also appended according to discrete_event.

Parameters

[in]	discrete_event	Discrete event.
[in]	event_time	Time of the discrete event.
[in]	sto	if true, the switching time optimization (STO) is enabled for this discrete event. if false, it is disabled. Default is false.

Note: If event_time is larger than the terminal time of the optimal control problem (t+T), then the discrete event and the contact status after the discrete event is not considered in the optimization problem.

◆ reserve()

void robotoc::ContactSequence::reserve ( const int reserved_num_discrete_events )

Reserves each discrete events (impact and lift) to avoid dynamic memory allocation.

Parameters

[in] reserved_num_discrete_events The reserved size.

◆ reservedNumDiscreteEvents()

int robotoc::ContactSequence::reservedNumDiscreteEvents ( ) const

Returns reserved size of container of each discrete events.

◆ setContactPlacements() [1/3]

void robotoc::ContactSequence::setContactPlacements	(	const int	contact_phase,
		const aligned_vector< SE3 > &	contact_placements
	)

Sets the contact placements (positions and rotations) to contact statsus with specified contact phase. Also set the contact placement of the discrete event just before the contact phase.

Parameters

[in]	contact_phase	Contact phase.
[in]	contact_placements	Contact placements.

◆ setContactPlacements() [2/3]

void robotoc::ContactSequence::setContactPlacements	(	const int	contact_phase,
		const std::vector< Eigen::Vector3d > &	contact_positions
	)

Sets the contact placements (positions and rotations) to contact statsus with specified contact phase. The rotations are set to Eigen::Matrix3d::Identity(). Also sets the contact placement of the discrete event just before the contact phase.

Parameters

[in]	contact_phase	Contact phase.
[in]	contact_positions	Contact positions.

◆ setContactPlacements() [3/3]

void robotoc::ContactSequence::setContactPlacements	(	const int	contact_phase,
		const std::vector< Eigen::Vector3d > &	contact_positions,
		const std::vector< Eigen::Matrix3d > &	contact_rotations
	)

Sets the contact placements (positions and rotations) to contact statsus with specified contact phase. Also set the contact placement of the discrete event just before the contact phase.

Parameters

[in]	contact_phase	Contact phase.
[in]	contact_positions	Contact positions.
[in]	contact_rotations	Contact rotations.

◆ setFrictionCoefficients()

void robotoc::ContactSequence::setFrictionCoefficients	(	const int	contact_phase,
		const std::vector< double > &	friction_coefficients
	)

Sets the friction coefficients. Also sets the friction coefficients of the discrete event just before the contact phase.

Parameters

[in]	contact_phase	Contact phase.
[in]	friction_coefficients	Friction coefficients.

◆ setImpactTime()

void robotoc::ContactSequence::setImpactTime	(	const int	impact_index,
		const double	impact_time
	)

Sets the time of the impact event.

Parameters

[in]	impact_index	Index of the impact event. Must be non-negative and less than numImpactEvents().
[in]	impact_time	Impact time.

◆ setLiftTime()

void robotoc::ContactSequence::setLiftTime	(	const int	lift_index,
		const double	lift_time
	)

Sets the time of the lift event.

Parameters

[in]	lift_index	Index of the lift event. Must be non-negative and less than numLiftEvents().
[in]	lift_time	Lift time.

Friends And Related Function Documentation

◆ operator<< [1/2]

std::ostream & operator<<	(	std::ostream &	os,
		const ContactSequence &	contact_sequence
	)

friend

◆ operator<< [2/2]

std::ostream & operator<<	(	std::ostream &	os,
		const std::shared_ptr< ContactSequence > &	contact_sequence
	)

friend

The documentation for this class was generated from the following file:

/github/workspace/include/robotoc/planner/contact_sequence.hpp

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ContactSequence() [1/4]

◆ ContactSequence() [2/4]

◆ ~ContactSequence()

◆ ContactSequence() [3/4]

◆ ContactSequence() [4/4]

Member Function Documentation

◆ contactStatus()

◆ disp()

◆ eventTimes()

◆ eventType()

◆ impactStatus()

◆ impactTime()

◆ init()

◆ isEventTimeConsistent()

◆ isSTOEnabledImpact()

◆ isSTOEnabledLift()

◆ liftTime()

◆ numContactPhases()

◆ numDiscreteEvents()

◆ numImpactEvents()

◆ numLiftEvents()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ pop_back()

◆ pop_front()

◆ push_back() [1/2]

◆ push_back() [2/2]

◆ reserve()

◆ reservedNumDiscreteEvents()

◆ setContactPlacements() [1/3]

◆ setContactPlacements() [2/3]

◆ setContactPlacements() [3/3]

◆ setFrictionCoefficients()

◆ setImpactTime()

◆ setLiftTime()

Friends And Related Function Documentation

◆ operator<< [1/2]

◆ operator<< [2/2]