mc_tvm::DynamicFunction::ForceContact Struct Reference

#include <mc_tvm/DynamicFunction.h>

Public Member Functions
	ForceContact (const mc_rbdyn::RobotFrame &frame, std::vector< sva::PTransformd > points, double dir)
void	updateJacobians (DynamicFunction &parent)
sva::ForceVecd	force () const

Public Attributes
mc_rbdyn::ConstRobotFramePtr	frame_
tvm::VariableVector	forces_
std::vector< sva::PTransformd >	points_
double	dir_
rbd::Jacobian	jac_
rbd::Blocks	blocks_
Eigen::MatrixXd	force_jac_
Eigen::MatrixXd	full_jac_

Detailed Description

Holds data for the force part of the motion equation

Constructor & Destructor Documentation

ForceContact()

mc_tvm::DynamicFunction::ForceContact::ForceContact	(	const mc_rbdyn::RobotFrame &	frame,
		std::vector< sva::PTransformd >	points,
		double	dir
	)

Constructor

Member Function Documentation

force()

sva::ForceVecd mc_tvm::DynamicFunction::ForceContact::force

(

)

const

Compute the contact force

updateJacobians()

void mc_tvm::DynamicFunction::ForceContact::updateJacobians

(

DynamicFunction &

parent

)

Update jacobians

Member Data Documentation

blocks_

rbd::Blocks mc_tvm::DynamicFunction::ForceContact::blocks_

RBDyn jacobian blocks

dir_

double mc_tvm::DynamicFunction::ForceContact::dir_

Contact direction

force_jac_

Eigen::MatrixXd mc_tvm::DynamicFunction::ForceContact::force_jac_

Used for intermediate Jacobian computation

forces_

tvm::VariableVector mc_tvm::DynamicFunction::ForceContact::forces_

Force associated to a contact

frame_

mc_rbdyn::ConstRobotFramePtr mc_tvm::DynamicFunction::ForceContact::frame_

Associated frame

full_jac_

Eigen::MatrixXd mc_tvm::DynamicFunction::ForceContact::full_jac_

jac_

rbd::Jacobian mc_tvm::DynamicFunction::ForceContact::jac_

RBDyn jacobian

points_

std::vector<sva::PTransformd> mc_tvm::DynamicFunction::ForceContact::points_

Contact points

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

• include/mc_tvm/DynamicFunction.h