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ComplementarityStaticContactConstraint Class Reference

enforces the constraint force_normal(i)*(contact_pos(i)-contact_pos(i+1)) = 0 By contact_pos_x(i)-contact_pos_x(i+1) <= gamma1 contact_pos_x(i)-contact_pos_x(i+1) >= -gamma1 contact_pos_y(i)-contact_pos_y(i+1) <= gamma2 contact_pos_y(i)-contact_pos_y(i+1) >= -gamma2 <force_normal(i),gamma1> = 0 (elementwise) <force_normal(i),gamma2> = 0 (elementwise) gamma1 >= 0 gamma2 >= 0 More...

Collaboration diagram for ComplementarityStaticContactConstraint:

Public Member Functions

function ComplementarityStaticContactConstraint (rb_wrench, ncp_tol)
 
function generateConstraint (obj)
 
function nlconEval (obj, kinsol1, kinsol2, lambda, gamma)
 

Protected Attributes

Property rb_wrench
 
Property nlcon
 
Property A_force
 
Property A_torque
 
Property nq
 
Property num_pts
 
Property num_pt_F
 
Property num_lambda
 
Property dnormal_force_dlambda
 
Property lambda_idx
 
Property q1_idx
 
Property q2_idx
 
Property gamma1_idx
 
Property gamma2_idx
 
Property tangent_x_mat
 
Property tangent_y_mat
 

Detailed Description

enforces the constraint force_normal(i)*(contact_pos(i)-contact_pos(i+1)) = 0 By contact_pos_x(i)-contact_pos_x(i+1) <= gamma1 contact_pos_x(i)-contact_pos_x(i+1) >= -gamma1 contact_pos_y(i)-contact_pos_y(i+1) <= gamma2 contact_pos_y(i)-contact_pos_y(i+1) >= -gamma2 <force_normal(i),gamma1> = 0 (elementwise) <force_normal(i),gamma2> = 0 (elementwise) gamma1 >= 0 gamma2 >= 0

Constructor & Destructor Documentation

function ComplementarityStaticContactConstraint ( rb_wrench  ,
ncp_tol   
)
Return values
obj

Member Function Documentation

function generateConstraint ( obj  )
Return values
nlcon
slack_bcon
num_slack
slack_name
function nlconEval ( obj  ,
kinsol1  ,
kinsol2  ,
lambda  ,
gamma   
)
Return values
c
dc

Member Data Documentation

Property A_force
protected
Property A_torque
protected
Property dnormal_force_dlambda
protected
Property gamma1_idx
protected
Property gamma2_idx
protected
Property lambda_idx
protected
Property nlcon
protected
Property nq
protected
Property num_lambda
protected
Property num_pt_F
protected
Property num_pts
protected
Property q1_idx
protected
Property q2_idx
protected
Property rb_wrench
protected
Property tangent_x_mat
protected
Property tangent_y_mat
protected

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