ForceColl Namespace Reference

Namespaces
	constants

Classes
class	Contact
	Contact. More...
class	EmptyContact
	Empty contact. More...
class	FrictionPyramid
	Friction pyramid. More...
class	GraspContact
	Grasp contact. More...
class	SurfaceContact
	Surface contact. More...
class	WrenchDistribution
	Wrench distribution. More...

Functions
sva::ForceVecd	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 >	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 >	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 >	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 > >	getContactVecFromMap (const MapType< KeyType, std::shared_ptr< Contact >, RestTypes... > &contactList)
	Convert vector of contact constraint to map. More...

Function Documentation

calcLocalWrenchList()

std::vector<sva::ForceVecd> ForceColl::calcLocalWrenchList	(	const std::vector< std::shared_ptr< Contact >> &	contactList,
		const Eigen::VectorXd &	wrenchRatio
	)

Calculate local contact wrench list.

Parameters

contactList	list of contact constraint
wrenchRatio	wrench ratio

Returns

local contact wrench list

calcTotalWrench()

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.

Parameters

contactList	list of contact constraint
wrenchRatio	wrench ratio
momentOrigin	moment origin

Returns

total wrench

calcWrenchList() [1/2]

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.

Template Parameters

MapType	type of map container
KeyType	key type

Parameters

contactList	list of contact constraint
wrenchRatio	wrench ratio
momentOrigin	moment origin

Returns

contact wrench list

Definition at line 4 of file Contact.hpp.

calcWrenchList() [2/2]

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.

Parameters

contactList	list of contact constraint
wrenchRatio	wrench ratio
momentOrigin	moment origin

Returns

contact wrench list

getContactVecFromMap()

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.

Template Parameters

MapType	type of map container
KeyType	key type

Parameters

contactList

map of contact constraint

Returns

vector of contact constraint

Definition at line 22 of file Contact.hpp.