ForceColl::Contact Class Reference

Contact. More...

#include <Contact.h>

Inheritance diagram for ForceColl::Contact:

Classes
struct	VertexWithRidge
	Vertex with ridges. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Contact (const std::string &name, std::optional< sva::ForceVecd > maxWrench=std::nullopt)
	Constructor. More...
virtual std::string	type () const =0
	Get type of contact. More...
int	ridgeNum () const
	Get the number of ridges. More...
virtual void	updateGlobalVertices (const sva::PTransformd &pose)=0
	Update graspMat_ and vertexWithRidgeList_ according to the input pose. More...
sva::ForceVecd	calcWrench (const Eigen::VectorXd &wrenchRatio, const Eigen::Vector3d &momentOrigin=Eigen::Vector3d::Zero()) const
	Calculate wrench. More...
sva::ForceVecd	calcLocalWrench (const Eigen::VectorXd &wrenchRatio) const
	Calculate the local wrench. More...
virtual void	addToGUI (mc_rtc::gui::StateBuilder &gui, const std::vector< std::string > &category, double forceScale=constants::defaultForceScale, double fricPyramidScale=constants::defaultFricPyramidScale, const Eigen::VectorXd &wrenchRatio=Eigen::VectorXd::Zero(0))
	Add markers to GUI. More...

Static Public Member Functions
static std::shared_ptr< Contact >	makeSharedFromConfig (const mc_rtc::Configuration &mcRtcConfig)
	Make shared pointer from mc_rtc configuration. More...

Public Attributes
std::string	name_
	Name of contact. More...
Eigen::Matrix< double, 6, Eigen::Dynamic >	graspMat_
	Grasp matrix. More...
Eigen::Matrix< double, 6, Eigen::Dynamic >	localGraspMat_
	Local grasp matrix. More...
std::shared_ptr< FrictionPyramid >	fricPyramid_
	Friction pyramid. More...
std::vector< VertexWithRidge >	vertexWithRidgeList_
	List of global vertex with ridges. More...
std::optional< sva::ForceVecd >	maxWrench_
	Maximum wrench in local frame that can be accepted by this contact. More...

Detailed Description

Contact.

Definition at line 40 of file Contact.h.

Constructor & Destructor Documentation

Contact()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ForceColl::Contact::Contact	(	const std::string &	name,
		std::optional< sva::ForceVecd >	maxWrench = std::nullopt
	)

Constructor.

Parameters

name	name of contact
maxWrench	maximum wrench in local frame (absolute value) that can be accepted by this contact

Member Function Documentation

addToGUI()

virtual void ForceColl::Contact::addToGUI ( mc_rtc::gui::StateBuilder &  gui, const std::vector< std::string > &  category, double  forceScale = constants::defaultForceScale, double  fricPyramidScale = constants::defaultFricPyramidScale, const Eigen::VectorXd &  wrenchRatio = Eigen::VectorXd::Zero(0)  )

virtual

Add markers to GUI.

Parameters

gui	GUI
category	category of GUI entries
forceScale	scale of force markers (set non-positive for no visualization)
fricPyramidScale	scale of friction pyramid markers (set non-positive for no visualization)
wrenchRatio	wrench ratio of each ridge

Reimplemented in ForceColl::GraspContact, and ForceColl::SurfaceContact.

calcLocalWrench()

sva::ForceVecd ForceColl::Contact::calcLocalWrench

(

const Eigen::VectorXd &

wrenchRatio

)

const

Calculate the local wrench.

Parameters

wrenchRatio

wrench ratio of each ridge

Returns

contact wrench in local frame

calcWrench()

sva::ForceVecd ForceColl::Contact::calcWrench	(	const Eigen::VectorXd &	wrenchRatio,
		const Eigen::Vector3d &	momentOrigin = Eigen::Vector3d::Zero()
	)		const

Calculate wrench.

Parameters

wrenchRatio	wrench ratio of each ridge
momentOrigin	moment origin

Returns

contact wrench

makeSharedFromConfig()

static std::shared_ptr<Contact> ForceColl::Contact::makeSharedFromConfig ( const mc_rtc::Configuration &  mcRtcConfig )

static

Make shared pointer from mc_rtc configuration.

Parameters

mcRtcConfig

mc_rtc configuration

ridgeNum()

int ForceColl::Contact::ridgeNum ( ) const

inline

Get the number of ridges.

Definition at line 83 of file Contact.h.

type()

virtual std::string ForceColl::Contact::type ( ) const

pure virtual

Get type of contact.

Implemented in ForceColl::GraspContact, ForceColl::SurfaceContact, and ForceColl::EmptyContact.

updateGlobalVertices()

virtual void ForceColl::Contact::updateGlobalVertices ( const sva::PTransformd &  pose )

pure virtual

Update graspMat_ and vertexWithRidgeList_ according to the input pose.

Implemented in ForceColl::GraspContact, ForceColl::SurfaceContact, and ForceColl::EmptyContact.

Member Data Documentation

fricPyramid_

std::shared_ptr<FrictionPyramid> ForceColl::Contact::fricPyramid_

Friction pyramid.

Definition at line 129 of file Contact.h.

graspMat_

Eigen::Matrix<double, 6, Eigen::Dynamic> ForceColl::Contact::graspMat_

Grasp matrix.

Definition at line 123 of file Contact.h.

localGraspMat_

Eigen::Matrix<double, 6, Eigen::Dynamic> ForceColl::Contact::localGraspMat_

Local grasp matrix.

Definition at line 126 of file Contact.h.

maxWrench_

std::optional<sva::ForceVecd> ForceColl::Contact::maxWrench_

Maximum wrench in local frame that can be accepted by this contact.

Definition at line 135 of file Contact.h.

name_

std::string ForceColl::Contact::name_

Name of contact.

Definition at line 120 of file Contact.h.

vertexWithRidgeList_

std::vector<VertexWithRidge> ForceColl::Contact::vertexWithRidgeList_

List of global vertex with ridges.

Definition at line 132 of file Contact.h.

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

• /home/runner/work/ForceControlCollection/ForceControlCollection/catkin_ws/src/ForceControlCollection/include/ForceColl/Contact.h