class
ContactWrenchConeContactWrenchCone computes the polyhedral approximation of the contact wrench friction cone.
A surface remains fixed with respect to the environment if the contact wrench lies in a cone described by
where is the contact force, is the vector normal to the contact surface. is the tangential force to the contact surface and is the friction parameter. In addition we require CoP inside the support area and a bounded yaw torque. The ContactWrenchCone aims to compute the polyhedral approximation of by splitting the base of the cone into slices while considering the contact torque constraints. The class implements the equations presented in [Stability of Surface Contacts for Humanoid Robots: Closed-Form Formulae of the Contact Wrench Cone for Rectangular Support Areas paper](https:/
Public functions
-
auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool - Initialize the Contact Wrench Cone class.
- auto getA() const -> Eigen::Ref<const Eigen::MatrixXd>
- Get the matrix A.
- auto getB() const -> Eigen::Ref<const Eigen::VectorXd>
- Get the vector B.
Function documentation
bool BipedalLocomotion:: Math:: ContactWrenchCone:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler)
Initialize the Contact Wrench Cone class.
Parameters | |
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handler | pointer to the parameter handler. |
Returns | true in case of success/false otherwise. |
Eigen::Ref<const Eigen::MatrixXd> BipedalLocomotion:: Math:: ContactWrenchCone:: getA() const
Get the matrix A.
Returns | the matrix A. |
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Eigen::Ref<const Eigen::VectorXd> BipedalLocomotion:: Math:: ContactWrenchCone:: getB() const
Get the vector B.
Returns | the matrix B.. |
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