robotoc::ContactStatus Class Reference

Contact status of robot model. More...

#include <contact_status.hpp>

Public Member Functions
	ContactStatus (const std::vector< ContactType > &contact_types, const std::vector< std::string > &contact_frame_names, const double default_friction_coefficient=0.7)
	Constructor. More...
	ContactStatus ()
	Default constructor. More...
	~ContactStatus ()=default
	Default destructor. More...
	ContactStatus (const ContactStatus &)=default
	Default copy constructor. More...
ContactStatus &	operator= (const ContactStatus &)=default
	Default copy assign operator. More...
	ContactStatus (ContactStatus &&) noexcept=default
	Default move constructor. More...
ContactStatus &	operator= (ContactStatus &&) noexcept=default
	Default move assign operator. More...
bool	operator== (const ContactStatus &other) const
	Defines a comparison operator. More...
bool	operator!= (const ContactStatus &other) const
	Defines a comparison operator. More...
ContactType	contactType (const int contact_index) const
	Returns the type of the contact. More...
const std::vector< ContactType > &	contactTypes () const
	Returns the types of the contacts. More...
const std::string &	contactFrameName (const int contact_index) const
	Returns the name of the contact frame. More...
const std::vector< std::string > &	contactFrameNames () const
	Returns the names of the contact frames. More...
bool	isContactActive (const int contact_index) const
	Returns true if a contact is active and false if not. More...
bool	isContactActive (const std::string &contact_frame_name) const
	Returns true if a contact is active and false if not. More...
const std::vector< bool > &	isContactActive () const
	Returns the activity of the contacts. More...
bool	hasActiveContacts () const
	Returns true if there are active contacts and false if not. More...
int	dimf () const
	Returns the dimension of the active contact forces. More...
int	maxNumContacts () const
	Returns the maximum number of the contacts. More...
void	activateContact (const int contact_index)
	Activates a contact. More...
void	activateContact (const std::string &contact_frame_name)
	Activates a contact. More...
void	deactivateContact (const int contact_index)
	Deactivates a contact. More...
void	deactivateContact (const std::string &contact_frame_name)
	Deactivates a contact. More...
void	activateContacts (const std::vector< int > &contact_indices)
	Activates contacts. More...
void	activateContacts (const std::vector< std::string > &contact_frame_names)
	Activates contacts. More...
void	deactivateContacts (const std::vector< int > &contact_indices)
	Deactivates contacts. More...
void	deactivateContacts (const std::vector< std::string > &contact_frame_names)
	Deactivates contacts. More...
void	setContactPlacement (const int contact_index, const Eigen::Vector3d &contact_position)
	Sets a contact placement, that is, the position and rotation of the contact. The contact rotation is set to Eigen::Matrix3d::Identity(), which represents the vertical direction to the ground. For the point contacts, the rotation is only used in the friction cone constraints. For the surface contacts, the rotation represents the rotational contact constraints on the contact frame of the robot. More...
void	setContactPlacement (const std::string &contact_frame_name, const Eigen::Vector3d &contact_position)
	Sets a contact placement, that is, the position and rotation of the contact. The contact rotation is set to Eigen::Matrix3d::Identity(), which represents the vertical direction to the ground. For the point contacts, the rotation is only used in the friction cone constraints. For the surface contacts, the rotation represents the rotational contact constraints on the contact frame of the robot. More...
void	setContactPlacement (const int contact_index, const Eigen::Vector3d &contact_position, const Eigen::Matrix3d &contact_rotation)
	Sets a contact placement, that is, the position and rotation of the contact. For the point contacts, the rotation is only used in the friction cone constraints. For the surface contacts, the rotation represents the rotational contact constraints on the contact frame of the robot. More...
void	setContactPlacement (const std::string &contact_frame_name, const Eigen::Vector3d &contact_position, const Eigen::Matrix3d &contact_rotation)
	Sets a contact placement, that is, the position and rotation of the contact. For the point contacts, the rotation is only used in the friction cone constraints. For the surface contacts, the rotation represents the rotational contact constraints on the contact frame of the robot. More...
void	setContactPlacement (const int contact_index, const SE3 &contact_placement)
	Sets a contact placement, that is, the position and rotation of the contact. For the point contacts, the rotation is only used in the friction cone constraints. For the surface contacts, the rotation represents the rotational contact constraints on the contact frame of the robot. More...
void	setContactPlacement (const std::string &contact_frame_name, const SE3 &contact_placement)
	Sets a contact placement, that is, the position and rotation of the contact. For the point contacts, the rotation is only used in the friction cone constraints. For the surface contacts, the rotation represents the rotational contact constraints on the contact frame of the robot. More...
void	setContactPlacements (const std::vector< Eigen::Vector3d > &contact_positions)
	Sets contact placements. The rotation of each contact is set to Eigen::Matrix3d::Identity(), which represents the vertical direction to the ground. More...
void	setContactPlacements (const std::unordered_map< std::string, Eigen::Vector3d > &contact_positions)
	Sets contact placements. The rotation of each contact is set to Eigen::Matrix3d::Identity(), which represents the vertical direction to the ground. More...
void	setContactPlacements (const std::vector< Eigen::Vector3d > &contact_positions, const std::vector< Eigen::Matrix3d > &contact_rotations)
	Sets contact placements. More...
void	setContactPlacements (const std::unordered_map< std::string, Eigen::Vector3d > &contact_positions, const std::unordered_map< std::string, Eigen::Matrix3d > &contact_rotations)
	Sets contact placements. More...
void	setContactPlacements (const aligned_vector< SE3 > &contact_placements)
	Sets contact placements. More...
void	setContactPlacements (const aligned_unordered_map< std::string, SE3 > &contact_placements)
	Sets contact placements. More...
const SE3 &	contactPlacement (const int contact_index) const
	Gets the contact placement. More...
const SE3 &	contactPlacement (const std::string &contact_frame_name) const
	Gets the contact placement. More...
const Eigen::Vector3d &	contactPosition (const int contact_index) const
	Gets the contact position. More...
const Eigen::Vector3d &	contactPosition (const std::string &contact_frame_name) const
	Gets the contact position. More...
const Eigen::Matrix3d &	contactRotation (const int contact_index) const
	Gets the contact rotation. More...
const Eigen::Matrix3d &	contactRotation (const std::string &contact_frame_name) const
	Gets the contact rotation. More...
const aligned_vector< SE3 > &	contactPlacements () const
	Gets the contact placements. More...
const std::vector< Eigen::Vector3d > &	contactPositions () const
	Gets the contact positions. More...
const std::vector< Eigen::Matrix3d > &	contactRotations () const
	Gets the contact rotations. More...
void	setFrictionCoefficient (const int contact_index, const double friction_coefficient)
	Gets the friction coefficint. More...
void	setFrictionCoefficient (const std::string &contact_frame_name, const double friction_coefficient)
	Gets the friction coefficint. More...
void	setFrictionCoefficients (const std::vector< double > &friction_coefficients)
	Sets the friction coefficints. More...
void	setFrictionCoefficients (const std::unordered_map< std::string, double > &friction_coefficients)
	Sets the friction coefficints. More...
double	frictionCoefficient (const int contact_index) const
	Gets the friction coefficint. Default value is 0.7. More...
double	frictionCoefficient (const std::string &contact_frame_name) const
	Gets the friction coefficint. Default value is 0.7. More...
const std::vector< double > &	frictionCoefficients () const
	Gets the friction coefficints. Default value is 0.7. More...
int	findContactIndex (const std::string &contact_frame_name) const
	Finds the contact index correspoinding to the input contact frame name. More...
void	setRandom ()
	Fills contact status randomly. More...
void	disp (std::ostream &os) const
	Displays the contact status onto a ostream. More...

Friends
std::ostream &	operator<< (std::ostream &os, const ContactStatus &contact_status)

Detailed Description

Contact status of robot model.

Constructor & Destructor Documentation

ContactStatus() [1/4]

robotoc::ContactStatus::ContactStatus ( const std::vector< ContactType > &  contact_types, const std::vector< std::string > &  contact_frame_names, const double  default_friction_coefficient = 0.7  )

inline

Constructor.

Parameters

[in]	contact_types	Types of contacts.
[in]	contact_frame_names	Names of contact frames.
[in]	default_friction_coefficient	Default friction coefficitn. Must be positive. Default is 0.7.

ContactStatus() [2/4]

robotoc::ContactStatus::ContactStatus ( )

inline

Default constructor.

~ContactStatus()

robotoc::ContactStatus::~ContactStatus ( )

default

Default destructor.

ContactStatus() [3/4]

robotoc::ContactStatus::ContactStatus ( const ContactStatus &  )

default

Default copy constructor.

ContactStatus() [4/4]

robotoc::ContactStatus::ContactStatus ( ContactStatus &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

activateContact() [1/2]

void robotoc::ContactStatus::activateContact ( const int  contact_index )

inline

Activates a contact.

Parameters

[in]

contact_index

Index of the contact that is activated.

activateContact() [2/2]

void robotoc::ContactStatus::activateContact ( const std::string &  contact_frame_name )

inline

Activates a contact.

Parameters

[in]

contact_frame_name

Name of the contact frame that is activated.

activateContacts() [1/2]

void robotoc::ContactStatus::activateContacts ( const std::vector< int > &  contact_indices )

inline

Activates contacts.

Parameters

[in]

contact_indices

Indices of the contacts that are activated.

activateContacts() [2/2]

void robotoc::ContactStatus::activateContacts ( const std::vector< std::string > &  contact_frame_names )

inline

Activates contacts.

Parameters

[in]

contact_frame_names

Frame names of the contacts that are activated.

contactFrameName()

const std::string & robotoc::ContactStatus::contactFrameName ( const int  contact_index ) const

inline

Returns the name of the contact frame.

Parameters

[in]

contact_index

Index of a contact of interedted.

Returns

Name of the contact frame.

contactFrameNames()

const std::vector< std::string > & robotoc::ContactStatus::contactFrameNames ( ) const

inline

Returns the names of the contact frames.

Returns

Name of the contact frames.

contactPlacement() [1/2]

const SE3 & robotoc::ContactStatus::contactPlacement ( const int  contact_index ) const

inline

Gets the contact placement.

Parameters

[in]

contact_index

Index of the contact .

Returns

const reference to the contact placement.

contactPlacement() [2/2]

const SE3 & robotoc::ContactStatus::contactPlacement ( const std::string &  contact_frame_name ) const

inline

Gets the contact placement.

Parameters

[in]

contact_frame_name

Name of the contact frame.

Returns

const reference to the contact placement.

contactPlacements()

const aligned_vector< SE3 > & robotoc::ContactStatus::contactPlacements ( ) const

inline

Gets the contact placements.

Returns

const reference to the contact placements.

contactPosition() [1/2]

const Eigen::Vector3d & robotoc::ContactStatus::contactPosition ( const int  contact_index ) const

inline

Gets the contact position.

Parameters

[in]

contact_index

Index of the contact .

Returns

const reference to the contact position.

contactPosition() [2/2]

const Eigen::Vector3d & robotoc::ContactStatus::contactPosition ( const std::string &  contact_frame_name ) const

inline

Gets the contact position.

Parameters

[in]

contact_frame_name

Name of the contact frame.

Returns

const reference to the contact position.

contactPositions()

const std::vector< Eigen::Vector3d > & robotoc::ContactStatus::contactPositions ( ) const

inline

Gets the contact positions.

Returns

const reference to the contact positions.

contactRotation() [1/2]

const Eigen::Matrix3d & robotoc::ContactStatus::contactRotation ( const int  contact_index ) const

inline

Gets the contact rotation.

Parameters

[in]

contact_index

Index of the contact .

Returns

const reference to the contact rotation.

contactRotation() [2/2]

const Eigen::Matrix3d & robotoc::ContactStatus::contactRotation ( const std::string &  contact_frame_name ) const

inline

Gets the contact rotation.

Parameters

[in]

contact_frame_name

Name of the contact frame.

Returns

const reference to the contact rotation.

contactRotations()

const std::vector< Eigen::Matrix3d > & robotoc::ContactStatus::contactRotations ( ) const

inline

Gets the contact rotations.

Returns

const reference to the contact rotations.

contactType()

ContactType robotoc::ContactStatus::contactType ( const int  contact_index ) const

inline

Returns the type of the contact.

Parameters

[in]

contact_index

Index of a contact of interedted.

Returns

Contact type.

contactTypes()

const std::vector< ContactType > & robotoc::ContactStatus::contactTypes ( ) const

inline

Returns the types of the contacts.

Returns

Contact types.

deactivateContact() [1/2]

void robotoc::ContactStatus::deactivateContact ( const int  contact_index )

inline

Deactivates a contact.

Parameters

[in]

contact_index

Index of the contact that is deactivated.

deactivateContact() [2/2]

void robotoc::ContactStatus::deactivateContact ( const std::string &  contact_frame_name )

inline

Deactivates a contact.

Parameters

[in]

contact_frame_name

Name of the contact frame that is deactivated.

deactivateContacts() [1/2]

void robotoc::ContactStatus::deactivateContacts ( const std::vector< int > &  contact_indices )

inline

Deactivates contacts.

Parameters

[in]

contact_indices

Indices of the contacts that are deactivated.

deactivateContacts() [2/2]

void robotoc::ContactStatus::deactivateContacts ( const std::vector< std::string > &  contact_frame_names )

inline

Deactivates contacts.

Parameters

[in]

contact_frame_names

Frame names of the contacts that are deactivated.

dimf()

int robotoc::ContactStatus::dimf ( ) const

inline

Returns the dimension of the active contact forces.

Returns

Dimension of the active contacts forces.

disp()

void robotoc::ContactStatus::disp

(

std::ostream &

os

)

const

Displays the contact status onto a ostream.

findContactIndex()

int robotoc::ContactStatus::findContactIndex ( const std::string &  contact_frame_name ) const

inline

Finds the contact index correspoinding to the input contact frame name.

Parameters

[in]

contact_frame_name

Name of the contact frame.

Returns

Contact index.

frictionCoefficient() [1/2]

double robotoc::ContactStatus::frictionCoefficient ( const int  contact_index ) const

inline

Gets the friction coefficint. Default value is 0.7.

Parameters

[in]

contact_index

Index of the contact.

Returns

Friction coefficient of the contact.

frictionCoefficient() [2/2]

double robotoc::ContactStatus::frictionCoefficient ( const std::string &  contact_frame_name ) const

inline

Gets the friction coefficint. Default value is 0.7.

Parameters

[in]

contact_frame_name

Name of the contact frame.

Returns

Friction coefficient of the contact.

frictionCoefficients()

const std::vector< double > & robotoc::ContactStatus::frictionCoefficients ( ) const

inline

Gets the friction coefficints. Default value is 0.7.

Returns

Friction coefficients of the contacts.

hasActiveContacts()

bool robotoc::ContactStatus::hasActiveContacts ( ) const

inline

Returns true if there are active contacts and false if not.

Returns

true if there are active contacts and false if not.

isContactActive() [1/3]

const std::vector< bool > & robotoc::ContactStatus::isContactActive ( ) const

inline

Returns the activity of the contacts.

Returns

Const reference to the activity of the contacts.

isContactActive() [2/3]

bool robotoc::ContactStatus::isContactActive ( const int  contact_index ) const

inline

Returns true if a contact is active and false if not.

Parameters

[in]

contact_index

Index of a contact of interedted.

Returns

true if a contact is active and false if not.

isContactActive() [3/3]

bool robotoc::ContactStatus::isContactActive ( const std::string &  contact_frame_name ) const

inline

Returns true if a contact is active and false if not.

Parameters

[in]

contact_frame_name

Name of the contact frame that is activated.

Returns

true if a contact is active and false if not.

maxNumContacts()

int robotoc::ContactStatus::maxNumContacts ( ) const

inline

Returns the maximum number of the contacts.

Returns

The maximum number of the contacts.

operator!=()

bool robotoc::ContactStatus::operator!= ( const ContactStatus &  other ) const

inline

Defines a comparison operator.

operator=() [1/2]

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

default

Default copy assign operator.

operator=() [2/2]

ContactStatus & robotoc::ContactStatus::operator= ( ContactStatus &&  )

defaultnoexcept

Default move assign operator.

operator==()

bool robotoc::ContactStatus::operator== ( const ContactStatus &  other ) const

inline

Defines a comparison operator.

setContactPlacement() [1/6]

void robotoc::ContactStatus::setContactPlacement ( const int  contact_index, const Eigen::Vector3d &  contact_position  )

inline

Sets a contact placement, that is, the position and rotation of the contact. The contact rotation is set to Eigen::Matrix3d::Identity(), which represents the vertical direction to the ground. For the point contacts, the rotation is only used in the friction cone constraints. For the surface contacts, the rotation represents the rotational contact constraints on the contact frame of the robot.

Parameters

[in]	contact_index	Index of the contact.
[in]	contact_position	Contact position.

setContactPlacement() [2/6]

void robotoc::ContactStatus::setContactPlacement ( const int  contact_index, const Eigen::Vector3d &  contact_position, const Eigen::Matrix3d &  contact_rotation  )

inline

Sets a contact placement, that is, the position and rotation of the contact. For the point contacts, the rotation is only used in the friction cone constraints. For the surface contacts, the rotation represents the rotational contact constraints on the contact frame of the robot.

Parameters

[in]	contact_index	Index of the contact.
[in]	contact_position	Contact position.
[in]	contact_rotation	Contact rotation.

setContactPlacement() [3/6]

void robotoc::ContactStatus::setContactPlacement ( const int  contact_index, const SE3 &  contact_placement  )

inline

Sets a contact placement, that is, the position and rotation of the contact. For the point contacts, the rotation is only used in the friction cone constraints. For the surface contacts, the rotation represents the rotational contact constraints on the contact frame of the robot.

Parameters

[in]	contact_index	Index of the contact.
[in]	contact_placement	Contact placement.

setContactPlacement() [4/6]

void robotoc::ContactStatus::setContactPlacement ( const std::string &  contact_frame_name, const Eigen::Vector3d &  contact_position  )

inline

Sets a contact placement, that is, the position and rotation of the contact. The contact rotation is set to Eigen::Matrix3d::Identity(), which represents the vertical direction to the ground. For the point contacts, the rotation is only used in the friction cone constraints. For the surface contacts, the rotation represents the rotational contact constraints on the contact frame of the robot.

Parameters

[in]	contact_frame_name	Name of the contact frame.
[in]	contact_position	Contact position.

setContactPlacement() [5/6]

void robotoc::ContactStatus::setContactPlacement ( const std::string &  contact_frame_name, const Eigen::Vector3d &  contact_position, const Eigen::Matrix3d &  contact_rotation  )

inline

Sets a contact placement, that is, the position and rotation of the contact. For the point contacts, the rotation is only used in the friction cone constraints. For the surface contacts, the rotation represents the rotational contact constraints on the contact frame of the robot.

Parameters

[in]	contact_frame_name	Name of the contact frame.
[in]	contact_position	Contact position.
[in]	contact_rotation	Contact rotation.

setContactPlacement() [6/6]

void robotoc::ContactStatus::setContactPlacement ( const std::string &  contact_frame_name, const SE3 &  contact_placement  )

inline

Sets a contact placement, that is, the position and rotation of the contact. For the point contacts, the rotation is only used in the friction cone constraints. For the surface contacts, the rotation represents the rotational contact constraints on the contact frame of the robot.

Parameters

[in]	contact_frame_name	Name of the contact frame.
[in]	contact_placement	Contact placement.

setContactPlacements() [1/6]

void robotoc::ContactStatus::setContactPlacements ( const aligned_unordered_map< std::string, SE3 > &  contact_placements )

inline

Sets contact placements.

Parameters

[in]

contact_placements

Contact placements. Size must be ContactStatus::maxNumContacts().

setContactPlacements() [2/6]

void robotoc::ContactStatus::setContactPlacements ( const aligned_vector< SE3 > &  contact_placements )

inline

Sets contact placements.

Parameters

[in]

contact_placements

Contact placements. Size must be ContactStatus::maxNumContacts().

setContactPlacements() [3/6]

void robotoc::ContactStatus::setContactPlacements ( const std::unordered_map< std::string, Eigen::Vector3d > &  contact_positions )

inline

Sets contact placements. The rotation of each contact is set to Eigen::Matrix3d::Identity(), which represents the vertical direction to the ground.

Parameters

[in]

contact_positions

Contact positions. Size must be ContactStatus::maxNumContacts().

setContactPlacements() [4/6]

void robotoc::ContactStatus::setContactPlacements ( const std::unordered_map< std::string, Eigen::Vector3d > &  contact_positions, const std::unordered_map< std::string, Eigen::Matrix3d > &  contact_rotations  )

inline

Sets contact placements.

Parameters

[in]	contact_positions	Contact positions. Size must be ContactStatus::maxNumContacts().
[in]	contact_rotations	Contact rotations. Size must be ContactStatus::maxNumContacts().

setContactPlacements() [5/6]

void robotoc::ContactStatus::setContactPlacements ( const std::vector< Eigen::Vector3d > &  contact_positions )

inline

Sets contact placements. The rotation of each contact is set to Eigen::Matrix3d::Identity(), which represents the vertical direction to the ground.

Parameters

[in]

contact_positions

Contact positions. Size must be ContactStatus::maxNumContacts().

setContactPlacements() [6/6]

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

inline

Sets contact placements.

Parameters

[in]	contact_positions	Contact positions. Size must be ContactStatus::maxNumContacts().
[in]	contact_rotations	Contact rotations. Size must be ContactStatus::maxNumContacts().

setFrictionCoefficient() [1/2]

void robotoc::ContactStatus::setFrictionCoefficient ( const int  contact_index, const double  friction_coefficient  )

inline

Gets the friction coefficint.

Parameters

[in]	contact_index	Index of the contact.
[in]	friction_coefficient	Friction coefficient. Must be positive.

setFrictionCoefficient() [2/2]

void robotoc::ContactStatus::setFrictionCoefficient ( const std::string &  contact_frame_name, const double  friction_coefficient  )

inline

Gets the friction coefficint.

Parameters

[in]	contact_frame_name	Name of the contact frame.
[in]	friction_coefficient	Friction coefficient. Must be positive.

setFrictionCoefficients() [1/2]

void robotoc::ContactStatus::setFrictionCoefficients ( const std::unordered_map< std::string, double > &  friction_coefficients )

inline

Sets the friction coefficints.

Parameters

[in]

friction_coefficients

Friction coefficients. Size must be ContactStatus::maxNumContacts() and each element must be positive.

setFrictionCoefficients() [2/2]

void robotoc::ContactStatus::setFrictionCoefficients ( const std::vector< double > &  friction_coefficients )

inline

Sets the friction coefficints.

Parameters

[in]

friction_coefficients

Friction coefficients. Size must be ContactStatus::maxNumContacts() and each element must be positive.

setRandom()

void robotoc::ContactStatus::setRandom ( )

inline

Fills contact status randomly.

Friends And Related Function Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const ContactStatus &  contact_status  )

friend

---

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

• /github/workspace/include/robotoc/robot/contact_status.hpp
• /github/workspace/include/robotoc/robot/contact_status.hxx