Impact status of robot model. Wrapper of ContactStatus to treat impacts. More...

#include <impact_status.hpp>

Public Member Functions
	ImpactStatus (const std::vector< ContactType > &contact_types, const std::vector< std::string > &contact_frame_names, const double default_friction_coefficient=0.7)
	Constructor. More...

	ImpactStatus ()
	Default constructor. More...

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

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

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

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

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

bool	operator== (const ImpactStatus &other) const
	Defines a comparison operator. More...

bool	operator!= (const ImpactStatus &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...

bool	isImpactActive (const int contact_index) const
	Returns true if a contact is active and false if not. More...

const std::vector< bool > &	isImpactActive () const
	Returns the activity of the impacts. More...

bool	hasActiveImpact () const
	Returns true if there are active impacts and false if not. More...

int	dimf () const
	Returns the dimension of the active impact forces. More...

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

void	activateImpact (const int contact_index)
	Activates a impact. More...

void	deactivateImpact (const int contact_index)
	Deactivates a impact. More...

void	activateImpacts (const std::vector< int > &impact_indices)
	Activates impacts. More...

void	deactivateImpacts (const std::vector< int > &impact_indices)
	Deactivates impacts. 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	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	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...

const SE3 &	contactPlacement (const int contact_index) const
	Gets the contact placement. More...

const Eigen::Vector3d &	contactPosition (const int contact_index) const
	Gets the contact position. More...

const Eigen::Matrix3d &	contactRotation (const int contact_index) 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...

void	setRandom ()
	Fills impact status randomly. More...

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

Friends
std::ostream &	operator<< (std::ostream &os, const ImpactStatus &impact_status)

Detailed Description

Impact status of robot model. Wrapper of ContactStatus to treat impacts.

Constructor & Destructor Documentation

◆ ImpactStatus() [1/4]

robotoc::ImpactStatus::ImpactStatus	(	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.

◆ ImpactStatus() [2/4]

robotoc::ImpactStatus::ImpactStatus ( )

inline

Default constructor.

◆ ~ImpactStatus()

robotoc::ImpactStatus::~ImpactStatus ( )

default

Default destructor.

◆ ImpactStatus() [3/4]

robotoc::ImpactStatus::ImpactStatus ( const ImpactStatus & )

default

Default copy constructor.

◆ ImpactStatus() [4/4]

robotoc::ImpactStatus::ImpactStatus ( ImpactStatus && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ activateImpact()

void robotoc::ImpactStatus::activateImpact ( const int contact_index )

inline

Activates a impact.

Parameters

[in] contact_index Index of the contact that is activated.

◆ activateImpacts()

void robotoc::ImpactStatus::activateImpacts ( const std::vector< int > & impact_indices )

inline

Activates impacts.

Parameters

[in] impact_indices Indices of the impacts that are activated.

◆ contactPlacement()

const SE3 & robotoc::ImpactStatus::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.

◆ contactPlacements()

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

inline

Gets the contact placements.

Returns: const reference to the contact placements.

◆ contactPosition()

const Eigen::Vector3d & robotoc::ImpactStatus::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.

◆ contactPositions()

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

inline

Gets the contact positions.

Returns: const reference to the contact positions.

◆ contactRotation()

const Eigen::Matrix3d & robotoc::ImpactStatus::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.

◆ contactRotations()

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

inline

Gets the contact rotations.

Returns: const reference to the contact rotations.

◆ contactType()

ContactType robotoc::ImpactStatus::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::ImpactStatus::contactTypes ( ) const

inline

Returns the types of the contacts.

Returns: Contact types.

◆ deactivateImpact()

void robotoc::ImpactStatus::deactivateImpact ( const int contact_index )

inline

Deactivates a impact.

Parameters

[in] contact_index Index of the contact that is deactivated.

◆ deactivateImpacts()

void robotoc::ImpactStatus::deactivateImpacts ( const std::vector< int > & impact_indices )

inline

Deactivates impacts.

Parameters

[in] impact_indices Indices of the impacts that are deactivated.

◆ dimf()

int robotoc::ImpactStatus::dimf ( ) const

inline

Returns the dimension of the active impact forces.

Returns: Dimension of the active impact forces.

◆ disp()

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

Displays the impact status onto a ostream.

◆ frictionCoefficient() [1/2]

double robotoc::ImpactStatus::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::ImpactStatus::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::ImpactStatus::frictionCoefficients ( ) const

inline

Gets the friction coefficints. Default value is 0.7.

Returns: Friction coefficients of the contacts.

◆ hasActiveImpact()

bool robotoc::ImpactStatus::hasActiveImpact ( ) const

inline

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

Returns: true if there are active impacts and false if not.

◆ isImpactActive() [1/2]

const std::vector< bool > & robotoc::ImpactStatus::isImpactActive ( ) const

inline

Returns the activity of the impacts.

Returns: Const reference to the activity of the impacts.

◆ isImpactActive() [2/2]

bool robotoc::ImpactStatus::isImpactActive ( 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.

◆ maxNumContacts()

int robotoc::ImpactStatus::maxNumContacts ( ) const

inline

Returns the maximum number of the contacts.

Returns: The maximum number of the contacts.

◆ operator!=()

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

inline

Defines a comparison operator.

◆ operator=() [1/2]

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

default

Default copy assign operator.

◆ operator=() [2/2]

ImpactStatus & robotoc::ImpactStatus::operator= ( ImpactStatus && )

defaultnoexcept

Default move assign operator.

◆ operator==()

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

inline

Defines a comparison operator.

◆ setContactPlacement() [1/3]

void robotoc::ImpactStatus::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() [2/3]

void robotoc::ImpactStatus::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() [3/3]

void robotoc::ImpactStatus::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.

◆ setContactPlacements() [1/3]

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

inline

Sets contact placements.

Parameters

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

◆ setContactPlacements() [2/3]

void robotoc::ImpactStatus::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 ImpactStatus::maxNumContacts().

◆ setContactPlacements() [3/3]

void robotoc::ImpactStatus::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 ImpactStatus::maxNumContacts().
[in]	contact_rotations	Contact rotations. Size must be ImpactStatus::maxNumContacts().

◆ setFrictionCoefficient() [1/2]

void robotoc::ImpactStatus::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::ImpactStatus::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::ImpactStatus::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::ImpactStatus::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::ImpactStatus::setRandom ( )

inline

Fills impact status randomly.

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const ImpactStatus &	impact_status
	)

friend

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

/github/workspace/include/robotoc/robot/impact_status.hpp
/github/workspace/include/robotoc/robot/impact_status.hxx

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ImpactStatus() [1/4]

◆ ImpactStatus() [2/4]

◆ ~ImpactStatus()

◆ ImpactStatus() [3/4]

◆ ImpactStatus() [4/4]

Member Function Documentation

◆ activateImpact()

◆ activateImpacts()

◆ contactPlacement()

◆ contactPlacements()

◆ contactPosition()

◆ contactPositions()

◆ contactRotation()

◆ contactRotations()

◆ contactType()

◆ contactTypes()

◆ deactivateImpact()

◆ deactivateImpacts()

◆ dimf()

◆ disp()

◆ frictionCoefficient() [1/2]

◆ frictionCoefficient() [2/2]

◆ frictionCoefficients()

◆ hasActiveImpact()

◆ isImpactActive() [1/2]

◆ isImpactActive() [2/2]

◆ maxNumContacts()

◆ operator!=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ setContactPlacement() [1/3]

◆ setContactPlacement() [2/3]

◆ setContactPlacement() [3/3]

◆ setContactPlacements() [1/3]

◆ setContactPlacements() [2/3]

◆ setContactPlacements() [3/3]

◆ setFrictionCoefficient() [1/2]

◆ setFrictionCoefficient() [2/2]

◆ setFrictionCoefficients() [1/2]

◆ setFrictionCoefficients() [2/2]

◆ setRandom()

Friends And Related Function Documentation

◆ operator<<