ForceColl::GraspContact Class Reference

Grasp contact. More...

#include <Contact.h>

Inheritance diagram for ForceColl::GraspContact:

Collaboration diagram for ForceColl::GraspContact:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GraspContact (const std::string &name, double fricCoeff, const std::vector< sva::PTransformd > &localVertices, const sva::PTransformd &pose, std::optional< sva::ForceVecd > maxWrench=std::nullopt)
	Constructor. More...
	GraspContact (const mc_rtc::Configuration &mcRtcConfig)
	Constructor. More...
virtual std::string	type () const override
	Get type of contact. More...
void	updateLocalVertices (const std::vector< sva::PTransformd > &localVertices)
	Update localVertices_ and localGraspMat_ according to the input pose. More...
virtual void	updateGlobalVertices (const sva::PTransformd &pose) override
	Update graspMat_ and vertexWithRidgeList_ according to the input pose. 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)) override
	Add markers to GUI. 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...

Static Public Member Functions
static void	loadVerticesMap (const mc_rtc::Configuration &mcRtcConfig)
	Load map of grasp vertices in local coordinates. More...
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
std::vector< sva::PTransformd >	localVertices_
	List of local verticies. 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...

Static Public Attributes
static std::unordered_map< std::string, std::vector< sva::PTransformd > >	verticesMap
	Map of grasp vertices in local coordinates. More...

Detailed Description

Grasp contact.

Definition at line 230 of file Contact.h.

Constructor & Destructor Documentation

GraspContact() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ForceColl::GraspContact::GraspContact	(	const std::string &	name,
		double	fricCoeff,
		const std::vector< sva::PTransformd > &	localVertices,
		const sva::PTransformd &	pose,
		std::optional< sva::ForceVecd >	maxWrench = std::nullopt
	)

Constructor.

Parameters

name	name of contact
fricCoeff	friction coefficient
localVertices	grasp vertices in local coordinates
pose	pose of contact
maxWrench	maximum wrench in local frame (absolute value) that can be accepted by this contact

GraspContact() [2/2]

ForceColl::GraspContact::GraspContact

(

const mc_rtc::Configuration &

mcRtcConfig

)

Constructor.

Parameters

mcRtcConfig

mc_rtc configuration

Member Function Documentation

addToGUI()

virtual void ForceColl::GraspContact::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)  )

overridevirtual

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 from ForceColl::Contact.

loadVerticesMap()

static void ForceColl::GraspContact::loadVerticesMap ( const mc_rtc::Configuration &  mcRtcConfig )

static

Load map of grasp vertices in local coordinates.

Parameters

mcRtcConfig

mc_rtc configuration

type()

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

inlineoverridevirtual

Get type of contact.

Implements ForceColl::Contact.

Definition at line 266 of file Contact.h.

updateGlobalVertices()

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

overridevirtual

Update graspMat_ and vertexWithRidgeList_ according to the input pose.

Implements ForceColl::Contact.

updateLocalVertices()

void ForceColl::GraspContact::updateLocalVertices

(

const std::vector< sva::PTransformd > &

localVertices

)

Update localVertices_ and localGraspMat_ according to the input pose.

Member Data Documentation

localVertices_

std::vector<sva::PTransformd> ForceColl::GraspContact::localVertices_

List of local verticies.

Definition at line 242 of file Contact.h.

verticesMap

std::unordered_map<std::string, std::vector<sva::PTransformd> > ForceColl::GraspContact::verticesMap

inlinestatic

Map of grasp vertices in local coordinates.

Definition at line 239 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