class
ContactModelContactModel is a generic implementation of a contact model.
It computes the contact wrench between the robot and the environments.
Derived classes
- class ContinuousContactModel final
- ContinuousContactModel is a model that describe the contact using a continuous representation.
Public functions
-
auto initialize(std::weak_ptr<ParametersHandler::
IParametersHandler> handler) -> bool - Initialization of the class.
- auto getContactWrench() -> const iDynTree::Wrench&
- Get and compute (only if it is necessary) the contact wrench.
- auto getAutonomousDynamics() -> const iDynTree::Vector6&
- Get and compute (only if it is necessary) the autonomous system dynamics.
- auto getControlMatrix() -> const iDynTree::Matrix6x6&
- Get and compute (only if it is necessary) the control matrix.
- auto getRegressor() -> const iDynTree::MatrixDynSize&
- Get and compute (only if it is necessary) the regressor.
- void setState(const iDynTree::Twist& twist, const iDynTree::Transform& transform)
- Set the internal state of the model.
- void setNullForceTransform(const iDynTree::Transform& transform)
Protected functions
- void computeContactWrench() pure virtual
- Evaluate the contact wrench given a specific contact model.
- void computeAutonomousDynamics() pure virtual
- Evaluate the Autonomous System Dynamics of the derivative of a specific contact model.
- void computeControlMatrix() pure virtual
- Evaluate the Control Matrix of the derivative of a specific contact model.
- void computeRegressor() pure virtual
- Evaluate the regressor matrix.
-
auto initializePrivate(std::weak_ptr<ParametersHandler::
IParametersHandler> handler) -> bool pure virtual - Initialization of the class.
- void setStatePrivate(const iDynTree::Twist& twist, const iDynTree::Transform& transform) pure virtual
- Set the internal state of the model.
- void setNullForceTransformPrivate(const iDynTree::Transform& transform) pure virtual
- Set the null force transform.
Protected variables
- iDynTree::Wrench m_contactWrench
- Contact wrench between the robot and the environment expressed in mixed representation.
- iDynTree::Vector6 m_autonomousDynamics
- Autonomous dynamics of the contact model rate of change (i.e.
- iDynTree::Matrix6x6 m_controlMatrix
- Control matrix of the contact model rate of change (i.e.
- iDynTree::MatrixDynSize m_regressor
- Contains the regressor of the contact model.
Function documentation
bool BipedalLocomotion:: ContactModels:: ContactModel:: initialize(std::weak_ptr<ParametersHandler:: IParametersHandler> handler)
Initialization of the class.
Parameters | |
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handler | std::weak_ptr to a parameter container. This class does not have the ownership of the container. |
Returns | true/false in case of success/failure |
Please call this method before evaluating any other function
const iDynTree::Wrench& BipedalLocomotion:: ContactModels:: ContactModel:: getContactWrench()
Get and compute (only if it is necessary) the contact wrench.
Returns | the contact wrench expressed in mixed representation |
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const iDynTree::Vector6& BipedalLocomotion:: ContactModels:: ContactModel:: getAutonomousDynamics()
Get and compute (only if it is necessary) the autonomous system dynamics.
Returns | the autonomous system dynamics at a given state |
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const iDynTree::Matrix6x6& BipedalLocomotion:: ContactModels:: ContactModel:: getControlMatrix()
Get and compute (only if it is necessary) the control matrix.
Returns | the control matrix at a given state |
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const iDynTree::MatrixDynSize& BipedalLocomotion:: ContactModels:: ContactModel:: getRegressor()
Get and compute (only if it is necessary) the regressor.
Returns | the regressor at a given state |
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void BipedalLocomotion:: ContactModels:: ContactModel:: setState(const iDynTree::Twist& twist,
const iDynTree::Transform& transform)
Set the internal state of the model.
bool BipedalLocomotion:: ContactModels:: ContactModel:: initializePrivate(std::weak_ptr<ParametersHandler:: IParametersHandler> handler) pure virtual protected
Initialization of the class.
Parameters | |
---|---|
handler | std::weak_ptr to a parameter container. This class does not have the ownership of the container. |
Returns | true/false in case of success/failure |
Variable documentation
iDynTree::Vector6 BipedalLocomotion:: ContactModels:: ContactModel:: m_autonomousDynamics protected
Autonomous dynamics of the contact model rate of change (i.e.
given a non linear system the autonomous dynamics is f
iDynTree::Matrix6x6 BipedalLocomotion:: ContactModels:: ContactModel:: m_controlMatrix protected
Control matrix of the contact model rate of change (i.e.
given a non linear system the control matrix is g
iDynTree::MatrixDynSize BipedalLocomotion:: ContactModels:: ContactModel:: m_regressor protected
Contains the regressor of the contact model.
, where is the contact wrench, the regressor and the parameters