Empty contact. More...

#include <Contact.h>

Inheritance diagram for ForceColl::EmptyContact:

Collaboration diagram for ForceColl::EmptyContact:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	EmptyContact (const std::string &name)
	Constructor. More...

	EmptyContact (const mc_rtc::Configuration &mcRtcConfig)
	Constructor. More...

virtual std::string	type () const override
	Get type of contact. More...

virtual void	updateGlobalVertices (const sva::PTransformd &pose) override
	Update graspMat_ and vertexWithRidgeList_ according to the input pose. More...

Public Member Functions inherited from ForceColl::Contact
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Contact (const std::string &name, std::optional< sva::ForceVecd > maxWrench=std::nullopt)
	Constructor. More...

int	ridgeNum () const
	Get the number of ridges. 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...

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

Public Attributes inherited from ForceColl::Contact
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

Empty contact.

Definition at line 139 of file Contact.h.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ForceColl::EmptyContact::EmptyContact ( const std::string & name )

Constructor.

Parameters

name	name of contact

ForceColl::EmptyContact::EmptyContact ( const mc_rtc::Configuration & mcRtcConfig )

Constructor.

Parameters

mcRtcConfig mc_rtc configuration

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

inlineoverridevirtual

Get type of contact.

Definition at line 155 of file Contact.h.

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

overridevirtual

Update graspMat_ and vertexWithRidgeList_ according to the input pose.

Do nothing because EmptyContact does not have any vertices.

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

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