robotoc::ContactModelInfo Class Reference

Info of a contact model. More...

#include <contact_model_info.hpp>

Public Member Functions
	ContactModelInfo (const std::string &frame, const double baumgarte_time_step)
	Construct a contact model info. More...
	ContactModelInfo (const std::string &frame, const double baumgarte_position_gain, const double baumgarte_velocity_gain)
	Construct a contact model info. More...
	ContactModelInfo ()=default
	Default constructor. More...
	~ContactModelInfo ()=default
	Default destructor. More...
	ContactModelInfo (const ContactModelInfo &)=default
	Default copy constructor. More...
ContactModelInfo &	operator= (const ContactModelInfo &)=default
	Default copy assign operator. More...
	ContactModelInfo (ContactModelInfo &&) noexcept=default
	Default move constructor. More...
ContactModelInfo &	operator= (ContactModelInfo &&) noexcept=default
	Default move assign operator. More...

Public Attributes
std::string	frame
	Name of the contact frame. More...
double	baumgarte_position_gain = 0.0
	The position gain of the Baumgarte's stabilization method. Default is 0.0. More...
double	baumgarte_velocity_gain = 0.0
	The velocity gain of the Baumgarte's stabilization method. Default is 0.0. More...

Detailed Description

Info of a contact model.

Constructor & Destructor Documentation

ContactModelInfo() [1/5]

robotoc::ContactModelInfo::ContactModelInfo	(	const std::string &	frame,
		const double	baumgarte_time_step
	)

Construct a contact model info.

Parameters

[in]	frame	Name of the contact frame.
[in]	baumgarte_time_step	Time step parameter of the Baumgarte's stabilization method. Must be positive.

ContactModelInfo() [2/5]

robotoc::ContactModelInfo::ContactModelInfo	(	const std::string &	frame,
		const double	baumgarte_position_gain,
		const double	baumgarte_velocity_gain
	)

Construct a contact model info.

Parameters

[in]	frame	Name of the contact frame.
[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.

ContactModelInfo() [3/5]

robotoc::ContactModelInfo::ContactModelInfo ( )

default

Default constructor.

~ContactModelInfo()

robotoc::ContactModelInfo::~ContactModelInfo ( )

default

Default destructor.

ContactModelInfo() [4/5]

robotoc::ContactModelInfo::ContactModelInfo ( const ContactModelInfo &  )

default

Default copy constructor.

ContactModelInfo() [5/5]

robotoc::ContactModelInfo::ContactModelInfo ( ContactModelInfo &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

operator=() [1/2]

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

default

Default copy assign operator.

operator=() [2/2]

ContactModelInfo & robotoc::ContactModelInfo::operator= ( ContactModelInfo &&  )

defaultnoexcept

Default move assign operator.

Member Data Documentation

baumgarte_position_gain

double robotoc::ContactModelInfo::baumgarte_position_gain = 0.0

The position gain of the Baumgarte's stabilization method. Default is 0.0.

baumgarte_velocity_gain

double robotoc::ContactModelInfo::baumgarte_velocity_gain = 0.0

The velocity gain of the Baumgarte's stabilization method. Default is 0.0.

frame

std::string robotoc::ContactModelInfo::frame

Name of the contact frame.

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

• /github/workspace/include/robotoc/robot/contact_model_info.hpp