ORCA: Optimization-based framework for Robotic Control Applications
LinearizedCoulombConstraint.h
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36 
37 
38 #pragma once
40 
41 namespace orca
42 {
43 namespace constraint
44 {
45 
47 {
48 public:
63  LinearizedCoulombConstraint(const std::string& name);
64  double getFrictionCoeff() const;
65  double getMargin() const;
66  void setAngleOffset(double angle_offset);
67  void setFrictionCoeff(double coeff);
68  void setMargin(double margin);
69  void setConeOrientation(const Eigen::Matrix3d& R);
70  const Eigen::Matrix3d& getConeOrientation() const;
71  void setNumberOfFaces(int nfaces);
72 protected:
73  virtual void onUpdateConstraintFunction(double current_time, double dt);
74  virtual void onResize();
75 private:
76  double friction_coeff_ = 1;
77  double margin_ = 0;
78  Eigen::Matrix3d R_cone_;
79  double angle_offset_ = 0;
80  int number_of_faces_ = 4;
81  Eigen::Vector3d v1_, v2_, n_;
82 };
83 
84 }
85 }
void setConeOrientation(const Eigen::Matrix3d &R)
Definition: LinearizedCoulombConstraint.cc:39
double getMargin() const
Definition: LinearizedCoulombConstraint.cc:19
const Eigen::Matrix3d & getConeOrientation() const
Definition: LinearizedCoulombConstraint.cc:44
void setFrictionCoeff(double coeff)
Definition: LinearizedCoulombConstraint.cc:29
void setMargin(double margin)
Definition: LinearizedCoulombConstraint.cc:34
void setAngleOffset(double angle_offset)
Definition: LinearizedCoulombConstraint.cc:24
void setNumberOfFaces(int nfaces)
Definition: LinearizedCoulombConstraint.cc:49
LinearizedCoulombConstraint(const std::string &name)
Definition: LinearizedCoulombConstraint.cc:8
virtual void onUpdateConstraintFunction(double current_time, double dt)
Definition: LinearizedCoulombConstraint.cc:74
double getFrictionCoeff() const
Definition: LinearizedCoulombConstraint.cc:14
Builds a double bounded function : l < C.x < u With x the control variable, l = lowerBound, u = upperBound, and C the constraint matrix.
Definition: GenericConstraint.h:55
Definition: CartesianAccelerationPID.h:44
Definition: LinearizedCoulombConstraint.h:46
virtual void onResize()
Definition: LinearizedCoulombConstraint.cc:64