CustomContactFormation Struct Reference

A more advanced ContactFormation that accepts custom contact points and custom constraints. More...

#include <Contact.h>

Public Member Functions
void	clear ()
	Resets to an empty formation.
void	set (int link, const std::vector< ContactPoint > &contacts, int numFCEdges)
	Sets this to a list of contacts on a given link.
void	set (int link, const std::vector< CustomContactPoint > &contacts)
	Sets this to aa list of contacts on a given link.
void	set (const ContactFormation &formation, int numFCEdges)
	Sets this to a plain ContactFormation.
void	concat (const CustomContactFormation &formation)
	Adds another formation onto this one.
void	addLinkForceLimit (int link, const Vector3 &direction, Real maximum)
void	addLinkWrenchLimit (int link, const Vector3 &fdirection, const Vector3 &mdirection, Real maximum)
void	addForceLimit (const std::vector< int > &contacts, const Vector3 &direction, Real maximum)
	Convenience function: limits the extent of the sum of forces direction^T sum fi <= maximum.
void	addWrenchLimit (const std::vector< int > &contacts, const Vector3 &fdirection, const Vector3 &mdirection, Real maximum)
void	addLinkForceConstraint (int link, const Matrix &A, const Vector &b, bool equality=false)
void	addLinkWrenchConstraint (int link, const Matrix &A, const Vector &b, bool equality=false)
void	addForceConstraint (const std::vector< int > &contacts, const Matrix &A, const Vector &b, bool equality=false)
void	addForceConstraint (const std::vector< int > &contacts, const std::vector< Matrix > &A, const Vector &b, bool equality=false)
void	addWrenchConstraint (const std::vector< int > &contacts, const Matrix &A, const Vector &b, bool equality=false)
void	addWrenchConstraint (const std::vector< int > &contacts, const std::vector< Matrix > &A, const Vector &b, bool equality=false)
int	numForceVariables () const
	Returns the total number of force variables.
int	numConstraints () const
	Returns the number of constraints.

Public Attributes
std::vector< int >	links
std::vector< CustomContactPoint >	contacts
std::vector< int >	targets
std::vector< std::vector< int > >	constraintGroups
std::vector< std::vector< Matrix > >	constraintMatrices
std::vector< Vector >	constraintOffsets
std::vector< bool >	constraintEqualities

Detailed Description

A more advanced ContactFormation that accepts custom contact points and custom constraints.

The contact contacts[i] is associated with links[i] (pointing from the opposing body into the robot). Usually the opposing body is the environment, but if targets is non-empty, it gives the index of the body for which contact is made.

Member Function Documentation

void CustomContactFormation::addForceConstraint	(	const std::vector< int > &	contacts,
		const Matrix &	A,
		const Vector &	b,
		bool	equality = false
	)

Adds a constraint that the forces on the given contacts, when stacked into a big vector f=[f1,...,fn], must satisfy the constraint A*f <= b (or if equality=true, A*f=b).

void CustomContactFormation::addForceConstraint	(	const std::vector< int > &	contacts,
		const std::vector< Matrix > &	A,
		const Vector &	b,
		bool	equality = false
	)

Adds a constraint that the forces on the given contacts, must satisfy the constraint sum Ai*fi <= b (or if equality=true, sum Ai*fi=b).

void CustomContactFormation::addLinkForceConstraint	(	int	link,
		const Matrix &	A,
		const Vector &	b,
		bool	equality = false
	)

Adds a constraint that the sum of all forces on a given link satisfy the condition A*f <= b (or if equality=true, A*f=b).

void CustomContactFormation::addLinkForceLimit	(	int	link,
		const Vector3 &	direction,
		Real	maximum
	)

Convenience function: limits the extent of the sum of forces on the link direction^T force <= maximum

void CustomContactFormation::addLinkWrenchConstraint	(	int	link,
		const Matrix &	A,
		const Vector &	b,
		bool	equality = false
	)

Adds a constraint that the sum of all forces/moments on a given link satisfy the condition A*w <= b (or if equality=true, A*w=b).

void CustomContactFormation::addLinkWrenchLimit	(	int	link,
		const Vector3 &	fdirection,
		const Vector3 &	mdirection,
		Real	maximum
	)

Convenience function: limits the extent of the sum of forces on the link fdirection^T force + mdirection^T moment <= maximum

void CustomContactFormation::addWrenchConstraint	(	const std::vector< int > &	contacts,
		const Matrix &	A,
		const Vector &	b,
		bool	equality = false
	)

Adds a constraint that the wrenches on the given contacts, when stacked into a big vector w=[w1,...,wn], must satisfy the constraint A*f <= b (or if equality=true, A*f=b).

void CustomContactFormation::addWrenchConstraint	(	const std::vector< int > &	contacts,
		const std::vector< Matrix > &	A,
		const Vector &	b,
		bool	equality = false
	)

Adds a constraint that the wrenches on the given contacts, must satisfy the constraint sum Ai*wi <= b (or if equality=true, sum Ai*wi=b).

References Math3D::Matrix3::setCrossProduct().

void CustomContactFormation::addWrenchLimit	(	const std::vector< int > &	contacts,
		const Vector3 &	fdirection,
		const Vector3 &	mdirection,
		Real	maximum
	)

Convenience function: limits the extent of the sum of forces fdirection^T sum fi + mdirection^T sum mi <= maximum

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

• Contact.h
• Contact.cpp