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.

## ◆ 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.

## ◆ contact_points

 Matrix3X 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 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: