Discrete event composed by impact and lift. More...

#include <discrete_event.hpp>

Public Member Functions
	DiscreteEvent (const ContactStatus &pre_contact_status, const ContactStatus &post_contact_status)
	Constructs discrete event from two sequential contact status. More...

	DiscreteEvent ()
	Default constructor. More...

	~DiscreteEvent ()=default
	Destructor. More...

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

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

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

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

bool	existDiscreteEvent () const
	Returns true if this discrete event exists. Returns false if not. More...

bool	existImpact () const
	Returns true if impact exists in this discrete event. Returns false if not. More...

bool	existLift () const
	Returns true if lift exists in this discrete event. Returns false if not. More...

const ImpactStatus &	impactStatus () const
	Returns const reference to impact status. More...

const ContactStatus &	preContactStatus () const
	Gets the contact status before this discrete event. More...

const ContactStatus &	postContactStatus () const
	Gets the contact status after this discrete event. More...

void	setDiscreteEvent (const ContactStatus &pre_contact_status, const ContactStatus &post_contact_status)
	Sets the contact status from two sequential contact status. 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 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	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::vector< Eigen::Vector3d > &contact_positions, const std::vector< Eigen::Matrix3d > &contact_rotations)
	Sets contact placements. More...

void	setContactPlacements (const aligned_vector< SE3 > &contact_placements)
	Sets contact placements. More...

void	setFrictionCoefficient (const int contact_index, const double friction_coefficient)
	Gets the friction coefficint. More...

void	setFrictionCoefficients (const std::vector< double > &friction_coefficients)
	Sets the friction coefficints. More...

int	maxNumContacts () const
	Returns the maximum number of the contacts. More...

DiscreteEventType	eventType () const
	Returns the event type of this discrete event. More...

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

Friends
std::ostream &	operator<< (std::ostream &os, const DiscreteEvent &discrete_event)

Detailed Description

Discrete event composed by impact and lift.

Constructor & Destructor Documentation

◆ DiscreteEvent() [1/4]

robotoc::DiscreteEvent::DiscreteEvent	(	const ContactStatus &	pre_contact_status,
		const ContactStatus &	post_contact_status
	)

Constructs discrete event from two sequential contact status.

Parameters

[in]	pre_contact_status	Contact status before this discrete event.
[in]	post_contact_status	Contact status after this discrete event.

◆ DiscreteEvent() [2/4]

robotoc::DiscreteEvent::DiscreteEvent ( )

Default constructor.

◆ ~DiscreteEvent()

robotoc::DiscreteEvent::~DiscreteEvent ( )

default

Destructor.

◆ DiscreteEvent() [3/4]

robotoc::DiscreteEvent::DiscreteEvent ( const DiscreteEvent & )

default

Default copy constructor.

◆ DiscreteEvent() [4/4]

robotoc::DiscreteEvent::DiscreteEvent ( DiscreteEvent && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ disp()

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

Displays the discrete event onto a ostream.

◆ eventType()

DiscreteEventType robotoc::DiscreteEvent::eventType ( ) const

inline

Returns the event type of this discrete event.

Returns: Event type of this discrete event.

◆ existDiscreteEvent()

bool robotoc::DiscreteEvent::existDiscreteEvent ( ) const

inline

Returns true if this discrete event exists. Returns false if not.

Returns: true if this discrete event exists. false if not.

◆ existImpact()

bool robotoc::DiscreteEvent::existImpact ( ) const

inline

Returns true if impact exists in this discrete event. Returns false if not.

Returns: true if impact exists. false if not.

◆ existLift()

bool robotoc::DiscreteEvent::existLift ( ) const

inline

Returns true if lift exists in this discrete event. Returns false if not.

Returns: true if lift exists. false if not.

◆ impactStatus()

const ImpactStatus & robotoc::DiscreteEvent::impactStatus ( ) const

inline

Returns const reference to impact status.

Returns: const reference to impact status.

◆ maxNumContacts()

int robotoc::DiscreteEvent::maxNumContacts ( ) const

inline

Returns the maximum number of the contacts.

Returns: The maximum number of the contacts.

◆ operator=() [1/2]

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

default

Default copy assign operator.

◆ operator=() [2/2]

DiscreteEvent & robotoc::DiscreteEvent::operator= ( DiscreteEvent && )

defaultnoexcept

Default move assign operator.

◆ postContactStatus()

const ContactStatus & robotoc::DiscreteEvent::postContactStatus ( ) const

inline

Gets the contact status after this discrete event.

Returns: const reference to the post contact status.

◆ preContactStatus()

const ContactStatus & robotoc::DiscreteEvent::preContactStatus ( ) const

inline

Gets the contact status before this discrete event.

Returns: const reference to the pre contact status.

◆ setContactPlacement() [1/2]

void robotoc::DiscreteEvent::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.

Parameters

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

◆ setContactPlacement() [2/2]

void robotoc::DiscreteEvent::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.

Parameters

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

◆ setContactPlacements() [1/3]

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

Sets contact placements.

Parameters

[in] contact_placements Contact placements. Size must be DiscreteEvent::maxNumContacts().

◆ setContactPlacements() [2/3]

void robotoc::DiscreteEvent::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.

Parameters

[in] contact_positions Contact positions. Size must be DiscreteEvent::maxNumContacts().

◆ setContactPlacements() [3/3]

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

Sets contact placements.

Parameters

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

◆ setDiscreteEvent()

void robotoc::DiscreteEvent::setDiscreteEvent	(	const ContactStatus &	pre_contact_status,
		const ContactStatus &	post_contact_status
	)

Sets the contact status from two sequential contact status.

Parameters

[in]	pre_contact_status	Contact status before this discrete event.
[in]	post_contact_status	Contact status after this discrete event.

◆ setFrictionCoefficient()

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

Gets the friction coefficint.

Parameters

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

◆ setFrictionCoefficients()

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

Sets the friction coefficints.

Parameters

[in] friction_coefficients Friction coefficients. Size must be ContactStatus::maxNumContacts() and each element must be positive.

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const DiscreteEvent &	discrete_event
	)

friend

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

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

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ DiscreteEvent() [1/4]

◆ DiscreteEvent() [2/4]

◆ ~DiscreteEvent()

◆ DiscreteEvent() [3/4]

◆ DiscreteEvent() [4/4]

Member Function Documentation

◆ disp()

◆ eventType()

◆ existDiscreteEvent()

◆ existImpact()

◆ existLift()

◆ impactStatus()

◆ maxNumContacts()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ postContactStatus()

◆ preContactStatus()

◆ setContactPlacement() [1/2]

◆ setContactPlacement() [2/2]

◆ setContactPlacements() [1/3]

◆ setContactPlacements() [2/3]

◆ setContactPlacements() [3/3]

◆ setDiscreteEvent()

◆ setFrictionCoefficient()

◆ setFrictionCoefficients()

Friends And Related Function Documentation

◆ operator<<