Kinematics and dynamic model of a point contact. More...

#include <point_contact.hpp>

Public Types
using	Matrix6xd = Eigen::Matrix< double, 6, Eigen::Dynamic >

Public Member Functions
	PointContact (const pinocchio::Model &model, const ContactModelInfo &contact_model_info)
	Construct a point contact model. More...

	PointContact ()
	Default constructor. More...

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

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

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

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

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

void	computeJointForceFromContactForce (const Eigen::Vector3d &contact_force, pinocchio::container::aligned_vector< pinocchio::Force > &joint_forces) const
	Converts the 3D contact forces in the local coordinate to the corresponding joint spatial forces. More...

template<typename VectorType1 , typename VectorType2 >
void	computeBaumgarteResidual (const pinocchio::Model &model, const pinocchio::Data &data, const Eigen::MatrixBase< VectorType1 > &desired_contact_position, const Eigen::MatrixBase< VectorType2 > &baumgarte_residual) const
	Computes the residual of the contact constraints considered by the Baumgarte's stabilization method. Before calling this function, kinematics of the robot model (frame position, velocity, and acceleration) must be updated. More...

template<typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeBaumgarteDerivatives (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::MatrixBase< MatrixType1 > &baumgarte_partial_dq, const Eigen::MatrixBase< MatrixType2 > &baumgarte_partial_dv, const Eigen::MatrixBase< MatrixType3 > &baumgarte_partial_da)
	Computes the partial derivatives of the contact constraints considered by the Baumgarte's stabilization method. Before calling this function, kinematics derivatives of the robot model (position, velocity, and acceleration) must be updated. More...

template<typename VectorType >
void	computeContactVelocityResidual (const pinocchio::Model &model, const pinocchio::Data &data, const Eigen::MatrixBase< VectorType > &velocity_residual) const
	Computes the residual of the contact velocity constraints. Before calling this function, kinematics of the robot model (frame position and velocity) must be updated. More...

template<typename MatrixType1 , typename MatrixType2 >
void	computeContactVelocityDerivatives (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::MatrixBase< MatrixType1 > &velocity_partial_dq, const Eigen::MatrixBase< MatrixType2 > &velocity_partial_dv)
	Computes the partial derivatives of the contact velocity constraints. Before calling this function, kinematics derivatives of the robot model (position and velocity) must be updated. More...

template<typename VectorType1 , typename VectorType2 >
void	computeContactPositionResidual (const pinocchio::Model &model, const pinocchio::Data &data, const Eigen::MatrixBase< VectorType1 > &desired_contact_position, const Eigen::MatrixBase< VectorType2 > &position_residual) const
	Computes the residual of the contact position constraints. Before calling this function, kinematics of the robot model (frame position) must be updated. More...

template<typename MatrixType >
void	computeContactPositionDerivative (const pinocchio::Model &model, pinocchio::Data &data, const Eigen::MatrixBase< MatrixType > &position_partial_dq)
	Computes the partial derivative of the contact position constraint with respect to the configuration. Before calling this function, kinematics derivative of the robot model with respect to the frame position must be updated. More...

const Eigen::Vector3d &	contactPosition (const pinocchio::Data &data) const
	Returns the contact position at the current kinematics of the robot. Before calling this function, kinematics of the robot model (frame position) must be updated. More...

void	setBaumgarteGains (const double baumgarte_position_gain, const double baumgarte_velocity_gain)
	Sets the gain parameters of the Baumgarte's stabilization method. More...

int	contactFrameId () const
	Returns contact frame id, i.e., the index of the contact frame. More...

int	parentJointId () const
	Returns parent joint id, i.e., the index of the parent joint of the contact frame. More...

const ContactModelInfo &	contactModelInfo () const
	Gets the contact model info. More...

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

Friends
std::ostream &	operator<< (std::ostream &os, const PointContact &point_contact)

Detailed Description

Kinematics and dynamic model of a point contact.

Member Typedef Documentation

◆ Matrix6xd

using robotoc::PointContact::Matrix6xd = Eigen::Matrix<double, 6, Eigen::Dynamic>

Constructor & Destructor Documentation

◆ PointContact() [1/4]

robotoc::PointContact::PointContact	(	const pinocchio::Model &	model,
		const ContactModelInfo &	contact_model_info
	)

Construct a point contact model.

Parameters

[in]	model	The pinocchio model. Before calling this constructor, pinocchio model must be initialized, e.g., by pinocchio::buildModel().
[in]	contact_model_info	Info of the point contact model.

◆ PointContact() [2/4]

robotoc::PointContact::PointContact ( )

Default constructor.

◆ ~PointContact()

robotoc::PointContact::~PointContact ( )

default

Default destructor.

◆ PointContact() [3/4]

robotoc::PointContact::PointContact ( const PointContact & )

default

Default copy constructor.

◆ PointContact() [4/4]

robotoc::PointContact::PointContact ( PointContact && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ computeBaumgarteDerivatives()

template<typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >

void robotoc::PointContact::computeBaumgarteDerivatives	(	const pinocchio::Model &	model,
		pinocchio::Data &	data,
		const Eigen::MatrixBase< MatrixType1 > &	baumgarte_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	baumgarte_partial_dv,
		const Eigen::MatrixBase< MatrixType3 > &	baumgarte_partial_da
	)

inline

Computes the partial derivatives of the contact constraints considered by the Baumgarte's stabilization method. Before calling this function, kinematics derivatives of the robot model (position, velocity, and acceleration) must be updated.

Parameters

[in]	model	Pinocchio model of the robot.
[in]	data	Pinocchio data of the robot kinematics.
[out]	baumgarte_partial_dq	The partial derivative with respect to the configuaration. Size must be 3 x Robot::dimv().
[out]	baumgarte_partial_dv	The partial derivative with respect to the velocity. Size must be 3 x Robot::dimv().
[out]	baumgarte_partial_da	The partial derivative with respect to the acceleration. Size must be 3 x Robot::dimv().

◆ computeBaumgarteResidual()

template<typename VectorType1 , typename VectorType2 >

void robotoc::PointContact::computeBaumgarteResidual	(	const pinocchio::Model &	model,
		const pinocchio::Data &	data,
		const Eigen::MatrixBase< VectorType1 > &	desired_contact_position,
		const Eigen::MatrixBase< VectorType2 > &	baumgarte_residual
	)		const

inline

Computes the residual of the contact constraints considered by the Baumgarte's stabilization method. Before calling this function, kinematics of the robot model (frame position, velocity, and acceleration) must be updated.

Parameters

[in]	model	Pinocchio model of the robot.
[in]	data	Pinocchio data of the robot kinematics.
[in]	desired_contact_position	Desired contact position. Size must be 3.
[out]	baumgarte_residual	Residual of the Bamgarte's constraint. Size must be 3.

◆ computeContactPositionDerivative()

template<typename MatrixType >

void robotoc::PointContact::computeContactPositionDerivative	(	const pinocchio::Model &	model,
		pinocchio::Data &	data,
		const Eigen::MatrixBase< MatrixType > &	position_partial_dq
	)

inline

Computes the partial derivative of the contact position
constraint with respect to the configuration. Before calling this function, kinematics derivative of the robot model with respect to the frame position must be updated.

Parameters

[in]	model	Pinocchio model of the robot.
[in]	data	Pinocchio data of the robot kinematics.
[out]	position_partial_dq	The result of the partial derivative with respect to the configuaration. Size must be 3 x Robot::dimv().

◆ computeContactPositionResidual()

template<typename VectorType1 , typename VectorType2 >

void robotoc::PointContact::computeContactPositionResidual	(	const pinocchio::Model &	model,
		const pinocchio::Data &	data,
		const Eigen::MatrixBase< VectorType1 > &	desired_contact_position,
		const Eigen::MatrixBase< VectorType2 > &	position_residual
	)		const

inline

Computes the residual of the contact position constraints. Before calling this function, kinematics of the robot model (frame position) must be updated.

Parameters

[in]	model	Pinocchio model of the robot.
[in]	data	Pinocchio data of the robot kinematics.
[in]	desired_contact_position	Desired contact position. Size must be 3.
[out]	position_residual	Residual of the contact constraint. Size must be 3.

◆ computeContactVelocityDerivatives()

template<typename MatrixType1 , typename MatrixType2 >

void robotoc::PointContact::computeContactVelocityDerivatives	(	const pinocchio::Model &	model,
		pinocchio::Data &	data,
		const Eigen::MatrixBase< MatrixType1 > &	velocity_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	velocity_partial_dv
	)

inline

Computes the partial derivatives of the contact velocity constraints. Before calling this function, kinematics derivatives of the robot model (position and velocity) must be updated.

Parameters

[in]	model	Pinocchio model of the robot.
[in]	data	Pinocchio data of the robot kinematics.
[out]	velocity_partial_dq	The partial derivative with respect to the configuaration. Size must be 3 x Robot::dimv().
[out]	velocity_partial_dv	The partial derivative with respect to the velocity. Size must be 3 x Robot::dimv().

◆ computeContactVelocityResidual()

template<typename VectorType >

void robotoc::PointContact::computeContactVelocityResidual	(	const pinocchio::Model &	model,
		const pinocchio::Data &	data,
		const Eigen::MatrixBase< VectorType > &	velocity_residual
	)		const

inline

Computes the residual of the contact velocity constraints. Before calling this function, kinematics of the robot model (frame position and velocity) must be updated.

Parameters

[in]	model	Pinocchio model of the robot.
[in]	data	Pinocchio data of the robot kinematics.
[out]	velocity_residual	Residual of the contact velocity constraint.

◆ computeJointForceFromContactForce()

void robotoc::PointContact::computeJointForceFromContactForce	(	const Eigen::Vector3d &	contact_force,
		pinocchio::container::aligned_vector< pinocchio::Force > &	joint_forces
	)		const

Converts the 3D contact forces in the local coordinate to the corresponding joint spatial forces.

Parameters

[in]	contact_force	The 3D contact forces in the local frame.
[out]	joint_forces	The corresponding joint spatial forces.

◆ contactFrameId()

int robotoc::PointContact::contactFrameId ( ) const

Returns contact frame id, i.e., the index of the contact frame.

Returns: Contact frame id.

◆ contactModelInfo()

const ContactModelInfo & robotoc::PointContact::contactModelInfo ( ) const

Gets the contact model info.

Returns: const reference to the contact model info.

◆ contactPosition()

const Eigen::Vector3d & robotoc::PointContact::contactPosition ( const pinocchio::Data & data ) const

Returns the contact position at the current kinematics of the robot. Before calling this function, kinematics of the robot model (frame position) must be updated.

Parameters

[in] data Pinocchio data of the robot kinematics.

Returns: Const reference to the contact position.

◆ disp()

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

Displays the point contact onto a ostream.

◆ operator=() [1/2]

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

default

Default copy assign operator.

◆ operator=() [2/2]

PointContact & robotoc::PointContact::operator= ( PointContact && )

defaultnoexcept

Default move assign operator.

◆ parentJointId()

int robotoc::PointContact::parentJointId ( ) const

Returns parent joint id, i.e., the index of the parent joint of the contact frame.

Returns: Parent joint id.

◆ setBaumgarteGains()

void robotoc::PointContact::setBaumgarteGains	(	const double	baumgarte_position_gain,
		const double	baumgarte_velocity_gain
	)

Sets the gain parameters of the Baumgarte's stabilization method.

Parameters

[in]	baumgarte_position_gain	The position gain of the Baumgarte's stabilization method. Must be non-negative.
[in]	baumgarte_velocity_gain	The velocity gain of the Baumgarte's stabilization method. Must be non-negative.

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const PointContact &	point_contact
	)

friend

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

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

Public Types

Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ Matrix6xd

Constructor & Destructor Documentation

◆ PointContact() [1/4]

◆ PointContact() [2/4]

◆ ~PointContact()

◆ PointContact() [3/4]

◆ PointContact() [4/4]

Member Function Documentation

◆ computeBaumgarteDerivatives()

◆ computeBaumgarteResidual()

◆ computeContactPositionDerivative()

◆ computeContactPositionResidual()

◆ computeContactVelocityDerivatives()

◆ computeContactVelocityResidual()

◆ computeJointForceFromContactForce()

◆ contactFrameId()

◆ contactModelInfo()

◆ contactPosition()

◆ disp()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ parentJointId()

◆ setBaumgarteGains()

Friends And Related Function Documentation

◆ operator<<