aligator::ContactMapTpl< _Scalar > Struct Template Reference

Contact map for centroidal costs and dynamics. More...

#include <aligator/modelling/contact-map.hpp>

Collaboration diagram for aligator::ContactMapTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	PoseVec = StdVectorEigenAligned<Vector3s>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	ContactMapTpl (const std::vector< std::string > &contact_names, const std::vector< bool > &contact_states, const PoseVec &contact_poses)
void	addContact (std::string_view name, const bool state, const Vector3s &pose)
void	removeContact (const size_t i)
bool	getContactState (std::string_view name) const
const Vector3s &	getContactPose (std::string_view name) const
void	setContactPose (std::string_view name, const Vector3s &ref)

Public Attributes
std::vector< std::string >	contact_names_
std::vector< bool >	contact_states_
PoseVec	contact_poses_
std::size_t	size_

Detailed Description

template<typename _Scalar>
struct aligator::ContactMapTpl< _Scalar >

Contact map for centroidal costs and dynamics.

Definition at line 8 of file contact-map.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

using aligator::ContactMapTpl< _Scalar >::Scalar = _Scalar

Definition at line 9 of file contact-map.hpp.

PoseVec

template<typename _Scalar>

using aligator::ContactMapTpl< _Scalar >::PoseVec = StdVectorEigenAligned<Vector3s>

Definition at line 11 of file contact-map.hpp.

Constructor & Destructor Documentation

ContactMapTpl()

template<typename _Scalar>

aligator::ContactMapTpl< _Scalar >::ContactMapTpl ( const std::vector< std::string > & contact_names, const std::vector< bool > & contact_states, const PoseVec & contact_poses )

inline

Definition at line 13 of file contact-map.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::ContactMapTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

addContact()

template<typename _Scalar>

void aligator::ContactMapTpl< _Scalar >::addContact ( std::string_view name, const bool state, const Vector3s & pose )

inline

Definition at line 28 of file contact-map.hpp.

removeContact()

template<typename _Scalar>

void aligator::ContactMapTpl< _Scalar >::removeContact ( const size_t i )

inline

Definition at line 36 of file contact-map.hpp.

getContactState()

template<typename _Scalar>

bool aligator::ContactMapTpl< _Scalar >::getContactState ( std::string_view name ) const

inline

Definition at line 47 of file contact-map.hpp.

getContactPose()

template<typename _Scalar>

const Vector3s & aligator::ContactMapTpl< _Scalar >::getContactPose ( std::string_view name ) const

inline

Definition at line 57 of file contact-map.hpp.

setContactPose()

template<typename _Scalar>

void aligator::ContactMapTpl< _Scalar >::setContactPose ( std::string_view name, const Vector3s & ref )

inline

Definition at line 67 of file contact-map.hpp.

Member Data Documentation

contact_names_

template<typename _Scalar>

std::vector<std::string> aligator::ContactMapTpl< _Scalar >::contact_names_

Definition at line 77 of file contact-map.hpp.

contact_states_

template<typename _Scalar>

std::vector<bool> aligator::ContactMapTpl< _Scalar >::contact_states_

Definition at line 78 of file contact-map.hpp.

contact_poses_

template<typename _Scalar>

PoseVec aligator::ContactMapTpl< _Scalar >::contact_poses_

Definition at line 79 of file contact-map.hpp.

size_

template<typename _Scalar>

std::size_t aligator::ContactMapTpl< _Scalar >::size_

Definition at line 80 of file contact-map.hpp.

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The documentation for this struct was generated from the following file:

• include/aligator/modelling/contact-map.hpp