biorbd::rigidbody::Contacts Class Reference

Class Contacts. More...

#include <Contacts.h>

Inheritance diagram for biorbd::rigidbody::Contacts:

Public Member Functions
	Contacts ()
	Construct contacts.
biorbd::rigidbody::Contacts	DeepCopy () const
	Deep copy of contacts. More...
void	DeepCopy (const biorbd::rigidbody::Contacts &other)
	Deep copy of contacts. More...
unsigned int	AddConstraint (unsigned int body_id, const biorbd::utils::Vector3d &body_point, const biorbd::utils::Vector3d &world_normal, const biorbd::utils::String &name, double acc=0)
	Add a constraint to the constraint set. More...
unsigned int	AddConstraint (unsigned int body_id, const biorbd::utils::Vector3d &body_point, const biorbd::utils::String &axis, const biorbd::utils::String &name, double acc=0)
	Add a constraint to the constraint set. More...
unsigned int	AddLoopConstraint (unsigned int body_id_predecessor, unsigned int body_id_successor, const biorbd::utils::RotoTrans &X_predecessor, const biorbd::utils::RotoTrans &X_successor, const biorbd::utils::SpatialVector &axis, const biorbd::utils::String &name, bool enableStabilization=false, double stabilizationParam=0.1)
	Add a loop constraint to the constraint set. More...
virtual	~Contacts ()
	Destroy the class properly.
Contacts &	getConstraints ()
	Get constraints. More...
bool	hasContacts () const
	Check if there are contacts. More...
unsigned int	nbContacts () const
	Return the number of contacts. More...
std::vector< biorbd::utils::String >	contactNames ()
	Return the name of the all contacts. More...
biorbd::utils::String	contactName (unsigned int i)
	Return the name of the contact of a specified axis. More...
std::vector< biorbd::utils::Vector3d >	constraintsInGlobal (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin)
	Return the contraints position in the global reference. More...
biorbd::utils::Vector	getForce () const
	Return the force acting on the contraint. More...

Protected Attributes
std::shared_ptr< unsigned int >	m_nbreConstraint
	Number of constraints.
std::shared_ptr< bool >	m_isBinded
	If the model is ready.

Detailed Description

Class Contacts.

Definition at line 28 of file Contacts.h.

Member Function Documentation

AddConstraint() [1/2]

unsigned int biorbd::rigidbody::Contacts::AddConstraint	(	unsigned int	body_id,
		const biorbd::utils::Vector3d &	body_point,
		const biorbd::utils::String &	axis,
		const biorbd::utils::String &	name,
		double	acc = 0
	)

Add a constraint to the constraint set.

Parameters

body_id	The body which is affected directly by the constraint
body_point	The point that is constrained relative to the contact body
axis	The axis along which the constraint acts
name	A human readable name
acc	The acceleration of the contact along the normal

Definition at line 46 of file Contacts.cpp.

AddConstraint() [2/2]

unsigned int biorbd::rigidbody::Contacts::AddConstraint	(	unsigned int	body_id,
		const biorbd::utils::Vector3d &	body_point,
		const biorbd::utils::Vector3d &	world_normal,
		const biorbd::utils::String &	name,
		double	acc = 0
	)

Add a constraint to the constraint set.

Parameters

body_id	The body which is affected directly by the constraint
body_point	The point that is constrained relative to the contact body
world_normal	The normal along the constraint acts (in base coordinates)
name	A human readable name
acc	The acceleration of the contact along the normal

Definition at line 37 of file Contacts.cpp.

AddLoopConstraint()

unsigned int biorbd::rigidbody::Contacts::AddLoopConstraint	(	unsigned int	body_id_predecessor,
		unsigned int	body_id_successor,
		const biorbd::utils::RotoTrans &	X_predecessor,
		const biorbd::utils::RotoTrans &	X_successor,
		const biorbd::utils::SpatialVector &	axis,
		const biorbd::utils::String &	name,
		bool	enableStabilization = false,
		double	stabilizationParam = 0.1
	)

Add a loop constraint to the constraint set.

Parameters

body_id_predecessor	The identifier of the predecessor body
body_id_successor	The identifier of the successor body
X_predecessor	A spatial transform localizing the constrained frames on the predecessor body, expressed with respect to the predecessor body frame
X_successor	A spatial transform localizing the constrained frames on the successor body, expressed with respect to the successor body frame
axis	A spatial vector indicating the axis along which the constraint acts
name	A human readable name
enableStabilization	Whether stabilization should be enabled or not
stabilizationParam	The value used for stabilization

Definition at line 71 of file Contacts.cpp.

constraintsInGlobal()

std::vector< biorbd::utils::Vector3d > biorbd::rigidbody::Contacts::constraintsInGlobal	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin
	)

Return the contraints position in the global reference.

Parameters

Q	The generalized coordinates of the joints
updateKin	Whether the kinematics of the model should be updated from Q

Returns

The contraints positions in the global reference

Definition at line 135 of file Contacts.cpp.

contactName()

biorbd::utils::String biorbd::rigidbody::Contacts::contactName

(

unsigned int

i

)

Return the name of the contact of a specified axis.

Parameters

i

The axis

Returns

The name of the contact of a specified axis

Definition at line 128 of file Contacts.cpp.

contactNames()

std::vector< biorbd::utils::String > biorbd::rigidbody::Contacts::contactNames

(

)

Return the name of the all contacts.

Returns

The name of the contacts

Definition at line 119 of file Contacts.cpp.

DeepCopy() [1/2]

biorbd::rigidbody::Contacts biorbd::rigidbody::Contacts::DeepCopy

(

)

const

Deep copy of contacts.

Returns

Copy of contacts

Definition at line 22 of file Contacts.cpp.

DeepCopy() [2/2]

void biorbd::rigidbody::Contacts::DeepCopy

(

const biorbd::rigidbody::Contacts &

other

)

Deep copy of contacts.

Parameters

other

The contacts to copy

Definition at line 29 of file Contacts.cpp.

getConstraints()

biorbd::rigidbody::Contacts & biorbd::rigidbody::Contacts::getConstraints

(

)

Get constraints.

Returns

The constraints

Definition at line 95 of file Contacts.cpp.

getForce()

biorbd::utils::Vector biorbd::rigidbody::Contacts::getForce

(

)

const

Return the force acting on the contraint.

Returns

The force acting on the contraint

Definition at line 157 of file Contacts.cpp.

hasContacts()

bool biorbd::rigidbody::Contacts::hasContacts

(

)

const

Check if there are contacts.

Returns

The presence of contacts

Definition at line 106 of file Contacts.cpp.

nbContacts()

unsigned int biorbd::rigidbody::Contacts::nbContacts

(

)

const

Return the number of contacts.

Returns

The number of contacts

Definition at line 114 of file Contacts.cpp.

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

• Contacts.h
• Contacts.cpp