Contacts wrap foot frames with extra info from the footstep plan.
More...
#include <lipm_walking/Contact.h>
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| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | Contact () |
| | Empty constructor. More...
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| | Contact (const sva::PTransformd &pose) |
| | Define from Plücker transform. More...
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| Eigen::Vector3d | sagittal () const |
| | Sagittal unit vector of the contact frame. More...
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| Eigen::Vector3d | lateral () const |
| | Lateral unit vector of the contact frame. More...
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| Eigen::Vector3d | normal () const |
| | Normal unit vector of the contact frame. More...
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| const Eigen::Vector3d & | position () const |
| | World position of the contact frame. More...
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| const Eigen::Vector3d & | p () const |
| | Shorthand for position. More...
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| Eigen::Vector3d | anklePos (const Sole &sole) const |
| | Position of ankle from foot center frame. More...
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| sva::PTransformd | anklePose (const Sole &sole) const |
| | Get frame rooted at the ankle. More...
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| double | x () const |
| | Shorthand for world x-coordinate. More...
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| double | y () const |
| | Shorthand for world y-coordinate. More...
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| double | z () const |
| | Shorthand for world z-coordinate. More...
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| Eigen::Vector3d | vertex0 () const |
| | Corner vertex of the contact area. More...
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| Eigen::Vector3d | vertex1 () const |
| | Corner vertex of the contact area. More...
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| Eigen::Vector3d | vertex2 () const |
| | Corner vertex of the contact area. More...
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| Eigen::Vector3d | vertex3 () const |
| | Corner vertex of the contact area. More...
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| template<int i> |
| double | minCoord () const |
| | Minimum coordinate for vertices of the contact area. More...
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| template<int i> |
| double | maxCoord () const |
| | Maximum coordinate for vertices of the contact area. More...
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| double | xmin () const |
| | Minimum world x-coordinate of the contact area. More...
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| double | xmax () const |
| | Maximum world x-coordinate of the contact area. More...
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| double | ymin () const |
| | Minimum world y-coordinate of the contact area. More...
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| double | ymax () const |
| | Maximum world y-coordinate of the contact area. More...
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| double | zmin () const |
| | Minimum world z-coordinate of the contact area. More...
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| double | zmax () const |
| | Maximum world z-coordinate of the contact area. More...
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| HrepXd | hrep () const |
| | Halfspace representation of contact area in world frame. More...
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| sva::PTransformd | robotTransform (const mc_rbdyn::Robot &robot) const |
| | Compute floating base transform that puts the robot in contact. More...
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| Eigen::Vector3d | refVel |
| | Desired CoM velocity when the robot is supporting itself on this contact. More...
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| double | halfLength = 0. |
| | Half-length of the contact rectangle in [m]. More...
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| double | halfWidth = 0. |
| | Half-width of the contact rectangle in [m]. More...
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| mc_rtc::Configuration | swingConfig |
| | Additional configuration for swing foot trajectories that originate from this contact. More...
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| std::string | surfaceName = "" |
| | Name of the contact surface in robot model. More...
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| sva::PTransformd | pose |
| | Plücker transform of the contact in the inertial frame. More...
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| unsigned | id = 0 |
| | Index of contact in footstep plan. More...
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Contacts wrap foot frames with extra info from the footstep plan.
Definition at line 58 of file Contact.h.
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW lipm_walking::Contact::Contact |
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inline |
Empty constructor.
Leaves the contact's Plücker transform uninitialized.
Definition at line 67 of file Contact.h.
| lipm_walking::Contact::Contact |
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const sva::PTransformd & |
pose | ) |
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inline |
Define from Plücker transform.
- Parameters
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| pose | Plücker transform from inertial to contact frame. |
Definition at line 74 of file Contact.h.
| Eigen::Vector3d lipm_walking::Contact::anklePos |
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const Sole & |
sole | ) |
const |
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inline |
Position of ankle from foot center frame.
- Parameters
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Definition at line 121 of file Contact.h.
| sva::PTransformd lipm_walking::Contact::anklePose |
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const Sole & |
sole | ) |
const |
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inline |
Get frame rooted at the ankle.
- Parameters
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Definition at line 143 of file Contact.h.
| HrepXd lipm_walking::Contact::hrep |
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const |
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inline |
Halfspace representation of contact area in world frame.
Definition at line 273 of file Contact.h.
| Eigen::Vector3d lipm_walking::Contact::lateral |
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const |
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inline |
Lateral unit vector of the contact frame.
Definition at line 87 of file Contact.h.
template<int i>
| double lipm_walking::Contact::maxCoord |
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const |
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inline |
Maximum coordinate for vertices of the contact area.
Definition at line 217 of file Contact.h.
template<int i>
| double lipm_walking::Contact::minCoord |
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const |
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inline |
Minimum coordinate for vertices of the contact area.
Definition at line 208 of file Contact.h.
| Eigen::Vector3d lipm_walking::Contact::normal |
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const |
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inline |
Normal unit vector of the contact frame.
Definition at line 95 of file Contact.h.
| const Eigen::Vector3d& lipm_walking::Contact::p |
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const |
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inline |
Shorthand for position.
Definition at line 111 of file Contact.h.
| const Eigen::Vector3d& lipm_walking::Contact::position |
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const |
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inline |
World position of the contact frame.
Definition at line 103 of file Contact.h.
| sva::PTransformd lipm_walking::Contact::robotTransform |
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const mc_rbdyn::Robot & |
robot | ) |
const |
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inline |
Compute floating base transform that puts the robot in contact.
- Parameters
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| robot | Robot model (including its multi-body configuration). |
Definition at line 304 of file Contact.h.
| Eigen::Vector3d lipm_walking::Contact::sagittal |
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const |
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inline |
Sagittal unit vector of the contact frame.
Definition at line 79 of file Contact.h.
| Eigen::Vector3d lipm_walking::Contact::vertex0 |
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const |
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inline |
Corner vertex of the contact area.
Definition at line 175 of file Contact.h.
| Eigen::Vector3d lipm_walking::Contact::vertex1 |
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const |
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inline |
Corner vertex of the contact area.
Definition at line 183 of file Contact.h.
| Eigen::Vector3d lipm_walking::Contact::vertex2 |
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const |
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inline |
Corner vertex of the contact area.
Definition at line 191 of file Contact.h.
| Eigen::Vector3d lipm_walking::Contact::vertex3 |
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const |
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inline |
Corner vertex of the contact area.
Definition at line 199 of file Contact.h.
| double lipm_walking::Contact::x |
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const |
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inline |
Shorthand for world x-coordinate.
Definition at line 151 of file Contact.h.
| double lipm_walking::Contact::xmax |
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const |
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inline |
Maximum world x-coordinate of the contact area.
Definition at line 233 of file Contact.h.
| double lipm_walking::Contact::xmin |
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const |
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inline |
Minimum world x-coordinate of the contact area.
Definition at line 225 of file Contact.h.
| double lipm_walking::Contact::y |
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const |
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inline |
Shorthand for world y-coordinate.
Definition at line 159 of file Contact.h.
| double lipm_walking::Contact::ymax |
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const |
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inline |
Maximum world y-coordinate of the contact area.
Definition at line 249 of file Contact.h.
| double lipm_walking::Contact::ymin |
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const |
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inline |
Minimum world y-coordinate of the contact area.
Definition at line 241 of file Contact.h.
| double lipm_walking::Contact::z |
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const |
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inline |
Shorthand for world z-coordinate.
Definition at line 167 of file Contact.h.
| double lipm_walking::Contact::zmax |
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const |
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inline |
Maximum world z-coordinate of the contact area.
Definition at line 265 of file Contact.h.
| double lipm_walking::Contact::zmin |
( |
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const |
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inline |
Minimum world z-coordinate of the contact area.
Definition at line 257 of file Contact.h.
| double lipm_walking::Contact::halfLength = 0. |
Half-length of the contact rectangle in [m].
Definition at line 316 of file Contact.h.
| double lipm_walking::Contact::halfWidth = 0. |
Half-width of the contact rectangle in [m].
Definition at line 317 of file Contact.h.
| unsigned lipm_walking::Contact::id = 0 |
Index of contact in footstep plan.
Definition at line 322 of file Contact.h.
| sva::PTransformd lipm_walking::Contact::pose |
Plücker transform of the contact in the inertial frame.
Definition at line 321 of file Contact.h.
| Eigen::Vector3d lipm_walking::Contact::refVel |
Initial value:=
Eigen::Vector3d::Zero()
Desired CoM velocity when the robot is supporting itself on this contact.
Definition at line 314 of file Contact.h.
| std::string lipm_walking::Contact::surfaceName = "" |
Name of the contact surface in robot model.
Definition at line 320 of file Contact.h.
| mc_rtc::Configuration lipm_walking::Contact::swingConfig |
Additional configuration for swing foot trajectories that originate from this contact.
Definition at line 319 of file Contact.h.
1.8.11 
