Drake
ContactParam Struct Reference

A struct for holding contact-related parameters such as local offsets of the contact points, friction coefficient, etc. More...

#include <drake/systems/controllers/qp_inverse_dynamics/param_parser.h>

Public Member Functions

bool operator== (const ContactParam &other) const
 Only checks numerical values being equal. More...
 
bool operator!= (const ContactParam &other) const
 

Public Attributes

std::string name
 Name can be arbitrary. More...
 
Matrix3X< doublecontact_points
 Specified in the body frame. More...
 
Vector3< doublenormal
 Specified in the body frame. More...
 
int num_basis_per_contact_point
 
double mu
 Friction coefficient. More...
 
double kd
 The QP controller tries to damp contact motions by adding a desired acceleration objective / constraint as \( \dot{v}_d = -kd v \). More...
 
double weight
 

Detailed Description

A struct for holding contact-related parameters such as local offsets of the contact points, friction coefficient, etc.

These can be used to make a ContactInformation which is used by the QP inverse dynamics controller. Please see ContactInformation for more details.

Member Function Documentation

◆ operator!=()

bool operator!= ( const ContactParam other) const
inline

◆ operator==()

bool operator== ( const ContactParam other) const
inline

Only checks numerical values being equal.

Does not check for name equality.

Member Data Documentation

◆ contact_points

Matrix3X<double> contact_points

Specified in the body frame.

◆ kd

double kd

The QP controller tries to damp contact motions by adding a desired acceleration objective / constraint as \( \dot{v}_d = -kd v \).

weight is used to specify how \( \dot{v}_d \) is used in the optimization. If weight is positive, \( \dot{v}_d \) is used as a cost term. If weight is negative, \( \dot{v}_d \) is used as an equality constraint. weight shouldn't be zero.

◆ mu

double mu

Friction coefficient.

◆ name

std::string name

Name can be arbitrary.

◆ normal

Vector3<double> normal

Specified in the body frame.

◆ num_basis_per_contact_point

int num_basis_per_contact_point

◆ weight

double weight

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