lipm_walking::Contact Struct Reference

#include <lipm_walking/Contact.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Contact ()
	Contact (const sva::PTransformd &pose)
Eigen::Vector3d	sagittal () const
Eigen::Vector3d	lateral () const
Eigen::Vector3d	normal () const
const Eigen::Vector3d &	position () const
const Eigen::Vector3d &	p () const
Eigen::Vector3d	anklePos (const Sole &sole) const
sva::PTransformd	anklePose (const Sole &sole) const
double	x () const
double	y () const
double	z () const
Eigen::Vector3d	vertex0 () const
Eigen::Vector3d	vertex1 () const
Eigen::Vector3d	vertex2 () const
Eigen::Vector3d	vertex3 () const
template<int i>
double	minCoord () const
template<int i>
double	maxCoord () const
double	xmin () const
double	xmax () const
double	ymin () const
double	ymax () const
double	zmin () const
double	zmax () const
HrepXd	hrep () const
sva::PTransformd	robotTransform (const mc_rbdyn::Robot &robot) const

Public Attributes
Eigen::Vector3d	refVel
double	halfLength = 0.
double	halfWidth = 0.
mc_rtc::Configuration	swingConfig
std::string	surfaceName = ""
sva::PTransformd	pose
unsigned	id = 0

Detailed Description

Contacts wrap foot frames with extra info from the footstep plan.

Definition at line 51 of file Contact.h.

Constructor & Destructor Documentation

Contact() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW lipm_walking::Contact::Contact ( )

inline

Empty constructor.

Leaves the contact's Plücker transform uninitialized.

Definition at line 60 of file Contact.h.

Contact() [2/2]

lipm_walking::Contact::Contact ( const sva::PTransformd &  pose )

inline

Define from Plücker transform.

Parameters

pose	Plücker transform from inertial to contact frame.

Definition at line 67 of file Contact.h.

Member Function Documentation

anklePos()

Eigen::Vector3d lipm_walking::Contact::anklePos ( const Sole &  sole ) const

inline

Position of ankle from foot center frame.

Parameters

sole	Sole dimensions.

Definition at line 114 of file Contact.h.

anklePose()

sva::PTransformd lipm_walking::Contact::anklePose ( const Sole &  sole ) const

inline

Get frame rooted at the ankle.

Parameters

sole	Sole dimensions.

Definition at line 136 of file Contact.h.

hrep()

HrepXd lipm_walking::Contact::hrep ( ) const

inline

Halfspace representation of contact area in world frame.

Definition at line 266 of file Contact.h.

lateral()

Eigen::Vector3d lipm_walking::Contact::lateral ( ) const

inline

Lateral unit vector of the contact frame.

Definition at line 80 of file Contact.h.

maxCoord()

template<int i>

double lipm_walking::Contact::maxCoord ( ) const

inline

Maximum coordinate for vertices of the contact area.

Definition at line 210 of file Contact.h.

minCoord()

template<int i>

double lipm_walking::Contact::minCoord ( ) const

inline

Minimum coordinate for vertices of the contact area.

Definition at line 201 of file Contact.h.

normal()

Eigen::Vector3d lipm_walking::Contact::normal ( ) const

inline

Normal unit vector of the contact frame.

Definition at line 88 of file Contact.h.

p()

const Eigen::Vector3d& lipm_walking::Contact::p ( ) const

inline

Shorthand for position.

Definition at line 104 of file Contact.h.

position()

const Eigen::Vector3d& lipm_walking::Contact::position ( ) const

inline

World position of the contact frame.

Definition at line 96 of file Contact.h.

robotTransform()

sva::PTransformd lipm_walking::Contact::robotTransform ( const mc_rbdyn::Robot &  robot ) const

inline

Compute floating base transform that puts the robot in contact.

Parameters

robot

Robot model (including its multi-body configuration).

Definition at line 297 of file Contact.h.

sagittal()

Eigen::Vector3d lipm_walking::Contact::sagittal ( ) const

inline

Sagittal unit vector of the contact frame.

Definition at line 72 of file Contact.h.

vertex0()

Eigen::Vector3d lipm_walking::Contact::vertex0 ( ) const

inline

Corner vertex of the contact area.

Definition at line 168 of file Contact.h.

vertex1()

Eigen::Vector3d lipm_walking::Contact::vertex1 ( ) const

inline

Corner vertex of the contact area.

Definition at line 176 of file Contact.h.

vertex2()

Eigen::Vector3d lipm_walking::Contact::vertex2 ( ) const

inline

Corner vertex of the contact area.

Definition at line 184 of file Contact.h.

vertex3()

Eigen::Vector3d lipm_walking::Contact::vertex3 ( ) const

inline

Corner vertex of the contact area.

Definition at line 192 of file Contact.h.

x()

double lipm_walking::Contact::x ( ) const

inline

Shorthand for world x-coordinate.

Definition at line 144 of file Contact.h.

xmax()

double lipm_walking::Contact::xmax ( ) const

inline

Maximum world x-coordinate of the contact area.

Definition at line 226 of file Contact.h.

xmin()

double lipm_walking::Contact::xmin ( ) const

inline

Minimum world x-coordinate of the contact area.

Definition at line 218 of file Contact.h.

y()

double lipm_walking::Contact::y ( ) const

inline

Shorthand for world y-coordinate.

Definition at line 152 of file Contact.h.

ymax()

double lipm_walking::Contact::ymax ( ) const

inline

Maximum world y-coordinate of the contact area.

Definition at line 242 of file Contact.h.

ymin()

double lipm_walking::Contact::ymin ( ) const

inline

Minimum world y-coordinate of the contact area.

Definition at line 234 of file Contact.h.

z()

double lipm_walking::Contact::z ( ) const

inline

Shorthand for world z-coordinate.

Definition at line 160 of file Contact.h.

zmax()

double lipm_walking::Contact::zmax ( ) const

inline

Maximum world z-coordinate of the contact area.

Definition at line 258 of file Contact.h.

zmin()

double lipm_walking::Contact::zmin ( ) const

inline

Minimum world z-coordinate of the contact area.

Definition at line 250 of file Contact.h.

Member Data Documentation

halfLength

double lipm_walking::Contact::halfLength = 0.

Half-length of the contact rectangle in [m].

Definition at line 309 of file Contact.h.

halfWidth

double lipm_walking::Contact::halfWidth = 0.

Half-width of the contact rectangle in [m].

Definition at line 310 of file Contact.h.

id

unsigned lipm_walking::Contact::id = 0

Index of contact in footstep plan.

Definition at line 315 of file Contact.h.

pose

sva::PTransformd lipm_walking::Contact::pose

Plücker transform of the contact in the inertial frame.

Definition at line 314 of file Contact.h.

refVel

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 307 of file Contact.h.

surfaceName

std::string lipm_walking::Contact::surfaceName = ""

Name of the contact surface in robot model.

Definition at line 313 of file Contact.h.

swingConfig

mc_rtc::Configuration lipm_walking::Contact::swingConfig

Additional configuration for swing foot trajectories that originate from this contact.

Definition at line 312 of file Contact.h.

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

• include/lipm_walking/Contact.h