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

#include <surface_contact.hpp>

Public Types
using	Vector6d = Eigen::Matrix< double, 6, 1 >

using	Matrix66d = Eigen::Matrix< double, 6, 6 >

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

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

	SurfaceContact ()
	Default constructor. More...

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

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

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

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

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

void	computeJointForceFromContactWrench (const Vector6d &contact_wrench, pinocchio::container::aligned_vector< pinocchio::Force > &joint_forces) const
	Converts the 6D contact wrench in the local coordinate to the corresponding joint spatial forces. More...

template<typename VectorType >
void	computeBaumgarteResidual (const pinocchio::Model &model, const pinocchio::Data &data, const SE3 &desired_contact_placement, const Eigen::MatrixBase< VectorType > &baumgarte_residual)
	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 VectorType >
void	computeContactPositionResidual (const pinocchio::Model &model, const pinocchio::Data &data, const SE3 &desired_contact_placement, const Eigen::MatrixBase< VectorType > &position_residual)
	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 SE3 &	contactPlacement (const pinocchio::Data &data) const
	Returns the contact placement 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 surface contact onto a ostream. More...

Friends
std::ostream &	operator<< (std::ostream &os, const SurfaceContact &surface_contact)

Detailed Description

Kinematics and dynamic model of a surface contact.

Member Typedef Documentation

◆ Matrix66d

using robotoc::SurfaceContact::Matrix66d = Eigen::Matrix<double, 6, 6>

◆ Matrix6xd

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

◆ Vector6d

using robotoc::SurfaceContact::Vector6d = Eigen::Matrix<double, 6, 1>

Constructor & Destructor Documentation

◆ SurfaceContact() [1/4]

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

Construct a surface 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.

◆ SurfaceContact() [2/4]

robotoc::SurfaceContact::SurfaceContact ( )

Default constructor.

◆ ~SurfaceContact()

robotoc::SurfaceContact::~SurfaceContact ( )

default

Destructor.

◆ SurfaceContact() [3/4]

robotoc::SurfaceContact::SurfaceContact ( const SurfaceContact & )

default

Default copy constructor.

◆ SurfaceContact() [4/4]

robotoc::SurfaceContact::SurfaceContact ( SurfaceContact && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ computeBaumgarteDerivatives()

template<typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >

void robotoc::SurfaceContact::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 6 x Robot::dimv().
[out]	baumgarte_partial_dv	The partial derivative with respect to the velocity. Size must be 6 x Robot::dimv().
[out]	baumgarte_partial_da	The partial derivative with respect to the acceleration. Size must be 6 x Robot::dimv().

◆ computeBaumgarteResidual()

template<typename VectorType >

void robotoc::SurfaceContact::computeBaumgarteResidual	(	const pinocchio::Model &	model,
		const pinocchio::Data &	data,
		const SE3 &	desired_contact_placement,
		const Eigen::MatrixBase< VectorType > &	baumgarte_residual
	)

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_placement	Desired contact placement.
[out]	baumgarte_residual	Residual of the Bamgarte's constraint. Size must be 6.

◆ computeContactPositionDerivative()

template<typename MatrixType >

void robotoc::SurfaceContact::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 6 x Robot::dimv().

◆ computeContactPositionResidual()

template<typename VectorType >

void robotoc::SurfaceContact::computeContactPositionResidual	(	const pinocchio::Model &	model,
		const pinocchio::Data &	data,
		const SE3 &	desired_contact_placement,
		const Eigen::MatrixBase< VectorType > &	position_residual
	)

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_placement	Desired contact placement.
[out]	position_residual	Residual of the contact constraint. Size must be 6.

◆ computeContactVelocityDerivatives()

template<typename MatrixType1 , typename MatrixType2 >

void robotoc::SurfaceContact::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 6 x Robot::dimv().
[out]	velocity_partial_dv	The partial derivative with respect to the velocity. Size must be 6 x Robot::dimv().

◆ computeContactVelocityResidual()

template<typename VectorType >

void robotoc::SurfaceContact::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.

◆ computeJointForceFromContactWrench()

void robotoc::SurfaceContact::computeJointForceFromContactWrench	(	const Vector6d &	contact_wrench,
		pinocchio::container::aligned_vector< pinocchio::Force > &	joint_forces
	)		const

Converts the 6D contact wrench in the local coordinate to the corresponding joint spatial forces.

Parameters

[in]	contact_wrench	The 6D contact wrench in the local frame.
[out]	joint_forces	The corresponding joint spatial forces.

◆ contactFrameId()

int robotoc::SurfaceContact::contactFrameId ( ) const

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

Returns: Contact frame id.

◆ contactModelInfo()

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

Gets the contact model info.

Returns: const reference to the contact model info.

◆ contactPlacement()

const SE3 & robotoc::SurfaceContact::contactPlacement ( const pinocchio::Data & data ) const

Returns the contact placement 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 placmenet.

◆ disp()

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

Displays the surface contact onto a ostream.

◆ operator=() [1/2]

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

default

Default copy assign operator.

◆ operator=() [2/2]

SurfaceContact & robotoc::SurfaceContact::operator= ( SurfaceContact && )

defaultnoexcept

Default move assign operator.

◆ parentJointId()

int robotoc::SurfaceContact::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::SurfaceContact::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 SurfaceContact &	surface_contact
	)

friend

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

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

Public Types

Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ Matrix66d

◆ Matrix6xd

◆ Vector6d

Constructor & Destructor Documentation

◆ SurfaceContact() [1/4]

◆ SurfaceContact() [2/4]

◆ ~SurfaceContact()

◆ SurfaceContact() [3/4]

◆ SurfaceContact() [4/4]

Member Function Documentation

◆ computeBaumgarteDerivatives()

◆ computeBaumgarteResidual()

◆ computeContactPositionDerivative()

◆ computeContactPositionResidual()

◆ computeContactVelocityDerivatives()

◆ computeContactVelocityResidual()

◆ computeJointForceFromContactWrench()

◆ contactFrameId()

◆ contactModelInfo()

◆ contactPlacement()

◆ disp()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ parentJointId()

◆ setBaumgarteGains()

Friends And Related Function Documentation

◆ operator<<