Contact task factory. More...

#include <ContactSet.h>

Inheritance diagram for ocra::ContactSet:

Collaboration diagram for ocra::ContactSet:

Public Member Functions
	ContactSet (const std::string &name, const Controller &factory, SegmentFrame::Ptr body, double mu, double margin)

virtual	~ContactSet ()

void	addContactFrame (const Eigen::Displacementd &frame)

ContactConstraintFeature &	getBodyFeature () const

std::shared_ptr< Task >	getBodyTask () const

const std::vector< SegmentFrame::Ptr > &	getPoints () const

const std::vector< PointContactFeature::Ptr > &	getFeatures () const

const std::vector< std::shared_ptr< Task > > &	getTasks () const

SegmentFrame::Ptr	getBodyFrame () const

double	getMu () const

double	getMargin () const

int	getNFacets () const

void	setMu (double mu)

void	setMargin (double margin)

void	setNFacets (int nFacets)

Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)

const std::string &	getName () const

virtual	~NamedInstance ()

Detailed Description

Contact task factory.

Creates a set of contact This object must be used as a factory. It does not manage its memory, so you have to delete the created frames yourself.

Definition at line 59 of file ContactSet.h.

Constructor & Destructor Documentation

Definition at line 7 of file ContactSet.cpp.

ocra::ContactSet::~ContactSet ( )

virtual

Definition at line 21 of file ContactSet.cpp.

void ocra::ContactSet::addContactFrame ( const Eigen::Displacementd & frame )

Definition at line 25 of file ContactSet.cpp.

ContactConstraintFeature & ocra::ContactSet::getBodyFeature ( ) const

Definition at line 45 of file ContactSet.cpp.

SegmentFrame::Ptr ocra::ContactSet::getBodyFrame ( ) const

Definition at line 40 of file ContactSet.cpp.

std::shared_ptr< Task > ocra::ContactSet::getBodyTask ( ) const

Definition at line 50 of file ContactSet.cpp.

const std::vector< PointContactFeature::Ptr > & ocra::ContactSet::getFeatures ( ) const

Definition at line 60 of file ContactSet.cpp.

double ocra::ContactSet::getMargin ( ) const

Definition at line 85 of file ContactSet.cpp.

double ocra::ContactSet::getMu ( ) const

Definition at line 75 of file ContactSet.cpp.

int ocra::ContactSet::getNFacets ( ) const

Definition at line 95 of file ContactSet.cpp.

const std::vector< SegmentFrame::Ptr > & ocra::ContactSet::getPoints ( ) const

Definition at line 55 of file ContactSet.cpp.

const std::vector< std::shared_ptr< Task > > & ocra::ContactSet::getTasks ( ) const

Definition at line 65 of file ContactSet.cpp.

void ocra::ContactSet::setMargin ( double margin )

Definition at line 80 of file ContactSet.cpp.

void ocra::ContactSet::setMu ( double mu )

Definition at line 70 of file ContactSet.cpp.

void ocra::ContactSet::setNFacets ( int nFacets )

Definition at line 90 of file ContactSet.cpp.

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