contact-base.hpp
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2 // Copyright (c) 2017 CNRS
3 //
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16 //
17 
18 #ifndef __invdyn_contact_base_hpp__
19 #define __invdyn_contact_base_hpp__
20 
21 #include "tsid/math/fwd.hpp"
22 #include "tsid/robots/fwd.hpp"
24 
25 
26 namespace tsid
27 {
28  namespace contacts
29  {
30 
35  {
36  public:
37  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
38 
48 
49  ContactBase(const std::string & name,
50  RobotWrapper & robot);
51 
52  const std::string & name() const;
53 
54  void name(const std::string & name);
55 
57  virtual unsigned int n_motion() const = 0;
58 
60  virtual unsigned int n_force() const = 0;
61 
62  virtual const ConstraintBase & computeMotionTask(const double t,
65  Data & data) = 0;
66 
67  virtual const ConstraintInequality & computeForceTask(const double t,
70  const Data & data) = 0;
71 
72  virtual const Matrix & getForceGeneratorMatrix() = 0;
73 
74  virtual const ConstraintEquality & computeForceRegularizationTask(const double t,
77  const Data & data) = 0;
78 
79  virtual const TaskSE3Equality & getMotionTask() const = 0;
80  virtual const ConstraintBase & getMotionConstraint() const = 0;
81  virtual const ConstraintInequality & getForceConstraint() const = 0;
82  virtual const ConstraintEquality & getForceRegularizationTask() const = 0;
83 
84  virtual double getMinNormalForce() const = 0;
85  virtual double getMaxNormalForce() const = 0;
86  virtual bool setMinNormalForce(const double minNormalForce) = 0;
87  virtual bool setMaxNormalForce(const double maxNormalForce) = 0;
88  virtual double getNormalForce(ConstRefVector f) const = 0;
89  virtual const Matrix3x & getContactPoints() const = 0;
90 
91  protected:
92  std::string m_name;
95  };
96 
97  }
98 }
99 
100 #endif // ifndef __invdyn_contact_base_hpp__
tsid::contacts::ContactBase::getForceRegularizationTask
virtual const ConstraintEquality & getForceRegularizationTask() const =0
tsid::contacts::ContactBase::ConstraintInequality
math::ConstraintInequality ConstraintInequality
Definition: contact-base.hpp:40
tsid::contacts::ContactBase::TaskSE3Equality
tasks::TaskSE3Equality TaskSE3Equality
Definition: contact-base.hpp:45
tsid::contacts::ContactBase::ConstraintEquality
math::ConstraintEquality ConstraintEquality
Definition: contact-base.hpp:41
tsid::contacts::ContactBase
Base template of a Contact.
Definition: contact-base.hpp:34
tsid::contacts::ContactBase::RobotWrapper
robots::RobotWrapper RobotWrapper
Definition: contact-base.hpp:47
tsid::math::ConstraintEquality
Definition: constraint-equality.hpp:28
Data
pinocchio::Data Data
Definition: inverse-dynamics-formulation-acc-force.cpp:29
tsid::math::ConstraintBase
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
tsid::contacts::ContactBase::Matrix
math::Matrix Matrix
Definition: contact-base.hpp:43
tsid::contacts::ContactBase::getMinNormalForce
virtual double getMinNormalForce() const =0
tsid::math::Matrix
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
tsid::contacts::ContactBase::computeForceRegularizationTask
virtual const ConstraintEquality & computeForceRegularizationTask(const double t, ConstRefVector q, ConstRefVector v, const Data &data)=0
tsid::contacts::ContactBase::computeForceTask
virtual const ConstraintInequality & computeForceTask(const double t, ConstRefVector q, ConstRefVector v, const Data &data)=0
tsid::contacts::ContactBase::ConstraintBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase ConstraintBase
Definition: contact-base.hpp:39
tsid::contacts::ContactBase::m_robot
RobotWrapper & m_robot
Reference on the robot model.
Definition: contact-base.hpp:94
tsid::contacts::ContactBase::getMotionTask
virtual const TaskSE3Equality & getMotionTask() const =0
tsid::contacts::ContactBase::getForceGeneratorMatrix
virtual const Matrix & getForceGeneratorMatrix()=0
tsid::contacts::ContactBase::getMotionConstraint
virtual const ConstraintBase & getMotionConstraint() const =0
tsid::contacts::ContactBase::getNormalForce
virtual double getNormalForce(ConstRefVector f) const =0
fwd.hpp
tsid::contacts::ContactBase::getForceConstraint
virtual const ConstraintInequality & getForceConstraint() const =0
task-se3-equality.hpp
tsid::math::ConstraintInequality
Definition: constraint-inequality.hpp:28
tsid::math::ConstRefVector
const typedef Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
tsid::contacts::ContactBase::name
const std::string & name() const
Definition: contact-base.cpp:30
tsid::contacts::ContactBase::n_motion
virtual unsigned int n_motion() const =0
Return the number of motion constraints.
tsid::contacts::ContactBase::n_force
virtual unsigned int n_force() const =0
Return the number of force variables.
tsid::contacts::ContactBase::computeMotionTask
virtual const ConstraintBase & computeMotionTask(const double t, ConstRefVector q, ConstRefVector v, Data &data)=0
fwd.hpp
tsid::contacts::ContactBase::Matrix3x
math::Matrix3x Matrix3x
Definition: contact-base.hpp:44
tsid
Definition: constraint-bound.hpp:26
tsid::contacts::ContactBase::m_name
std::string m_name
Definition: contact-base.hpp:92
tsid::contacts::ContactBase::getContactPoints
virtual const Matrix3x & getContactPoints() const =0
tsid::robots::RobotWrapper
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
tsid::contacts::ContactBase::Data
pinocchio::Data Data
Definition: contact-base.hpp:46
tsid::math::Matrix3x
Eigen::Matrix< Scalar, 3, Eigen::Dynamic > Matrix3x
Definition: fwd.hpp:44
tsid::tasks::TaskSE3Equality
Definition: task-se3-equality.hpp:33
tsid::contacts::ContactBase::getMaxNormalForce
virtual double getMaxNormalForce() const =0
tsid::contacts::ContactBase::setMaxNormalForce
virtual bool setMaxNormalForce(const double maxNormalForce)=0
tsid::contacts::ContactBase::ConstRefVector
math::ConstRefVector ConstRefVector
Definition: contact-base.hpp:42
tsid::contacts::ContactBase::setMinNormalForce
virtual bool setMinNormalForce(const double minNormalForce)=0
tsid::contacts::ContactBase::ContactBase
ContactBase(const std::string &name, RobotWrapper &robot)
Definition: contact-base.cpp:24