#include <unordered_map>#include <mc_rtc/Configuration.h>#include <mc_rtc/gui/StateBuilder.h>#include <SpaceVecAlg/SpaceVecAlg>#include <ForceColl/Constants.h>#include <ForceColl/Contact.hpp>
Include dependency graph for Contact.h:
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Classes | |
| class | ForceColl::FrictionPyramid |
| Friction pyramid. More... | |
| class | ForceColl::Contact |
| Contact. More... | |
| struct | ForceColl::Contact::VertexWithRidge |
| Vertex with ridges. More... | |
| class | ForceColl::EmptyContact |
| Empty contact. More... | |
| class | ForceColl::SurfaceContact |
| Surface contact. More... | |
| class | ForceColl::GraspContact |
| Grasp contact. More... | |
Namespaces | |
| ForceColl | |
Functions | |
| sva::ForceVecd | ForceColl::calcTotalWrench (const std::vector< std::shared_ptr< Contact >> &contactList, const Eigen::VectorXd &wrenchRatio, const Eigen::Vector3d &momentOrigin=Eigen::Vector3d::Zero()) |
| Calculate total wrench. More... | |
| std::vector< sva::ForceVecd > | ForceColl::calcWrenchList (const std::vector< std::shared_ptr< Contact >> &contactList, const Eigen::VectorXd &wrenchRatio, const Eigen::Vector3d &momentOrigin=Eigen::Vector3d::Zero()) |
| Calculate contact wrench list. More... | |
| std::vector< sva::ForceVecd > | ForceColl::calcLocalWrenchList (const std::vector< std::shared_ptr< Contact >> &contactList, const Eigen::VectorXd &wrenchRatio) |
| Calculate local contact wrench list. More... | |
| template<template< class... > class MapType, class KeyType , class... RestTypes> | |
| MapType< KeyType, sva::ForceVecd > | ForceColl::calcWrenchList (const MapType< KeyType, std::shared_ptr< Contact >, RestTypes... > &contactList, const Eigen::VectorXd &wrenchRatio, const Eigen::Vector3d &momentOrigin=Eigen::Vector3d::Zero()) |
| Calculate contact wrench list. More... | |
| template<template< class... > class MapType, class KeyType , class... RestTypes> | |
| std::vector< std::shared_ptr< Contact > > | ForceColl::getContactVecFromMap (const MapType< KeyType, std::shared_ptr< Contact >, RestTypes... > &contactList) |
| Convert vector of contact constraint to map. More... | |
