momentumopt
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momentumopt::ContactState Class Reference

This class is a container for all variables required to define a contact state: position and orientation of the contact, time of activation and de-activation of the contact, and a ContactType variable indicating whether, forces are subject to a friction cone (ContactType::FlatContact) or not (ContactType::FullContact) such as in the case of a hand grasping a bar. More...

#include <ContactState.hpp>

Public Member Functions

int & terrainId ()
 
int & optimizationId ()
 
ContactType & contactType ()
 
double & contactActivationTime ()
 
double & contactDeactivationTime ()
 
bool & selectedAsActive ()
 
Eigen::Vector3d & contactPosition ()
 
Eigen::Quaternion< double > & contactOrientation ()
 
void contactActivationTime (const double &time_ini)
 
void contactDeactivationTime (const double &time_end)
 
void contactPosition (const Eigen::Vector3d &position)
 
void contactOrientation (const Eigen::Quaternion< double > &orientation)
 
void contactType (const ContactType &contact_type)
 
void contactPlacement (const Eigen::Matrix< double, 4, 4 > &placement)
 
void selectedAsActive (const bool &active)
 
const int & terrainId () const
 
const int & optimizationId () const
 
const ContactType & contactType () const
 
const double & contactActivationTime () const
 
const double & contactDeactivationTime () const
 
const bool & selectedAsActive () const
 
const Eigen::Vector3d & contactPosition () const
 
const Eigen::Quaternion< double > & contactOrientation () const
 
const Eigen::Matrix< double, 4, 4 > contactPlacement () const
 
std::string toString () const
 

Private Member Functions

 ContactState (const Eigen::VectorXd &parameters, const int optimization_id)
 

Private Attributes

bool selected_as_active_
 
Eigen::Vector3d position_
 
ContactType contact_type_
 
double time_ini_
 
double time_end_
 
int optimization_id_
 
int terrain_id_
 
Eigen::Quaternion< double > orientation_
 

Friends

class ContactSequence
 
std::ostream & operator<< (std::ostream &os, const ContactState &obj)
 

Detailed Description

This class is a container for all variables required to define a contact state: position and orientation of the contact, time of activation and de-activation of the contact, and a ContactType variable indicating whether, forces are subject to a friction cone (ContactType::FlatContact) or not (ContactType::FullContact) such as in the case of a hand grasping a bar.

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