ForceColl::WrenchDistribution Class Reference

Wrench distribution. More...

#include <WrenchDistribution.h>

Collaboration diagram for ForceColl::WrenchDistribution:

Classes
struct	Configuration
	Configuration. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	WrenchDistribution (const std::vector< std::shared_ptr< Contact >> &contactList, const mc_rtc::Configuration &mcRtcConfig={})
	Constructor. More...
sva::ForceVecd	run (const sva::ForceVecd &desiredTotalWrench, const Eigen::Vector3d &momentOrigin=Eigen::Vector3d::Zero())
	Run wrench distribution calculation. More...
const Configuration &	config () const noexcept
	Const accessor to the configuration. More...
void	addToGUI (mc_rtc::gui::StateBuilder &gui, const std::vector< std::string > &category, double forceScale=constants::defaultForceScale, double fricPyramidScale=constants::defaultFricPyramidScale)
	Add markers to GUI. More...

Public Attributes
std::vector< std::shared_ptr< Contact > >	contactList_
	List of contact constraint. More...
Eigen::VectorXd	resultWrenchRatio_
	Result wrench ratio. More...
sva::ForceVecd	desiredTotalWrench_ = sva::ForceVecd::Zero()
	Desired total wrench. More...
sva::ForceVecd	resultTotalWrench_ = sva::ForceVecd::Zero()
	Result total wrench. More...
std::shared_ptr< QpSolverCollection::QpSolver >	qpSolver_
	QP solver. More...
QpSolverCollection::QpCoeff	qpCoeff_
	QP coefficients. More...

Protected Attributes
Configuration	config_
	Configuration. More...

Detailed Description

Wrench distribution.

Definition at line 11 of file WrenchDistribution.h.

Constructor & Destructor Documentation

WrenchDistribution()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ForceColl::WrenchDistribution::WrenchDistribution	(	const std::vector< std::shared_ptr< Contact >> &	contactList,
		const mc_rtc::Configuration &	mcRtcConfig = {}
	)

Constructor.

Parameters

contactList	list of contact constraint
mcRtcConfig	mc_rtc configuration

Member Function Documentation

addToGUI()

void ForceColl::WrenchDistribution::addToGUI	(	mc_rtc::gui::StateBuilder &	gui,
		const std::vector< std::string > &	category,
		double	forceScale = constants::defaultForceScale,
		double	fricPyramidScale = constants::defaultFricPyramidScale
	)

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)

config()

const Configuration& ForceColl::WrenchDistribution::config ( ) const

inlinenoexcept

Const accessor to the configuration.

Definition at line 51 of file WrenchDistribution.h.

run()

sva::ForceVecd ForceColl::WrenchDistribution::run	(	const sva::ForceVecd &	desiredTotalWrench,
		const Eigen::Vector3d &	momentOrigin = Eigen::Vector3d::Zero()
	)

Run wrench distribution calculation.

Parameters

desiredTotalWrench	total wrench
momentOrigin	moment origin

Returns

total wrench of distributed result wrenches

Member Data Documentation

config_

Configuration ForceColl::WrenchDistribution::config_

protected

Configuration.

Definition at line 88 of file WrenchDistribution.h.

contactList_

std::vector<std::shared_ptr<Contact> > ForceColl::WrenchDistribution::contactList_

List of contact constraint.

Definition at line 69 of file WrenchDistribution.h.

desiredTotalWrench_

sva::ForceVecd ForceColl::WrenchDistribution::desiredTotalWrench_ = sva::ForceVecd::Zero()

Desired total wrench.

Definition at line 75 of file WrenchDistribution.h.

qpCoeff_

QpSolverCollection::QpCoeff ForceColl::WrenchDistribution::qpCoeff_

QP coefficients.

Definition at line 84 of file WrenchDistribution.h.

qpSolver_

std::shared_ptr<QpSolverCollection::QpSolver> ForceColl::WrenchDistribution::qpSolver_

QP solver.

Definition at line 81 of file WrenchDistribution.h.

resultTotalWrench_

sva::ForceVecd ForceColl::WrenchDistribution::resultTotalWrench_ = sva::ForceVecd::Zero()

Result total wrench.

Definition at line 78 of file WrenchDistribution.h.

resultWrenchRatio_

Eigen::VectorXd ForceColl::WrenchDistribution::resultWrenchRatio_

Result wrench ratio.

Definition at line 72 of file WrenchDistribution.h.

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

• /home/runner/work/ForceControlCollection/ForceControlCollection/colcon_ws/src/isri-aist/ForceControlCollection/include/ForceColl/WrenchDistribution.h