From f708672231d597c1482cae918e538f42a21efa90 Mon Sep 17 00:00:00 2001 From: Masaki Murooka Date: Sun, 4 Aug 2024 00:25:33 +0000 Subject: [PATCH] Update Doxygen HTML files from commit 2ff226b060140410e99d697fe009d6d57b88d86d --- doxygen/Contact_8h_source.html | 136 +++++++++--------- ...lassForceColl_1_1GraspContact-members.html | 5 +- doxygen/classForceColl_1_1GraspContact.html | 31 +++- ...ssForceColl_1_1SurfaceContact-members.html | 5 +- doxygen/classForceColl_1_1SurfaceContact.html | 23 +++ doxygen/functions.html | 4 + doxygen/functions_func.html | 4 + doxygen/search/all_d.js | 3 +- doxygen/search/all_e.js | 8 +- doxygen/search/all_f.js | 6 +- doxygen/search/classes_0.js | 4 +- doxygen/search/classes_1.js | 2 +- doxygen/search/classes_2.js | 2 +- doxygen/search/classes_3.js | 2 +- doxygen/search/classes_4.js | 2 +- doxygen/search/classes_5.js | 2 +- doxygen/search/classes_6.js | 2 +- doxygen/search/files_0.js | 6 +- doxygen/search/files_1.js | 2 +- doxygen/search/files_2.js | 2 +- doxygen/search/functions_0.js | 2 +- doxygen/search/functions_1.js | 16 +-- doxygen/search/functions_2.js | 2 +- doxygen/search/functions_3.js | 2 +- doxygen/search/functions_4.js | 4 +- doxygen/search/functions_5.js | 4 +- doxygen/search/functions_6.js | 2 +- doxygen/search/functions_7.js | 4 +- doxygen/search/functions_8.js | 2 +- doxygen/search/functions_9.js | 2 +- doxygen/search/functions_a.js | 3 +- doxygen/search/functions_b.js | 2 +- doxygen/search/functions_c.js | 2 +- doxygen/search/namespaces_0.js | 4 +- doxygen/search/variables_0.js | 4 +- doxygen/search/variables_1.js | 6 +- doxygen/search/variables_2.js | 2 +- doxygen/search/variables_3.js | 2 +- doxygen/search/variables_4.js | 6 +- doxygen/search/variables_5.js | 2 +- doxygen/search/variables_6.js | 2 +- doxygen/search/variables_7.js | 4 +- doxygen/search/variables_8.js | 10 +- doxygen/search/variables_9.js | 6 +- doxygen/search/variables_a.js | 2 +- 45 files changed, 206 insertions(+), 142 deletions(-) diff --git a/doxygen/Contact_8h_source.html b/doxygen/Contact_8h_source.html index cf9825e..853adba 100644 --- a/doxygen/Contact_8h_source.html +++ b/doxygen/Contact_8h_source.html @@ -207,78 +207,82 @@
206  return "Surface";
207  }
208 
-
210  virtual void updateGlobalVertices(const sva::PTransformd & pose) override;
+
210  void updateLocalVertices(const std::vector<Eigen::Vector3d> & localVertices);
211 
-
219  virtual void addToGUI(mc_rtc::gui::StateBuilder & gui,
-
220  const std::vector<std::string> & category,
-
221  double forceScale = constants::defaultForceScale,
-
222  double fricPyramidScale = constants::defaultFricPyramidScale,
-
223  const Eigen::VectorXd & wrenchRatio = Eigen::VectorXd::Zero(0)) override;
-
224 };
-
225 
-
227 class GraspContact : public Contact
-
228 {
-
229 public:
-
233  static void loadVerticesMap(const mc_rtc::Configuration & mcRtcConfig);
-
234 
-
236  static inline std::unordered_map<std::string, std::vector<sva::PTransformd>> verticesMap;
+
213  virtual void updateGlobalVertices(const sva::PTransformd & pose) override;
+
214 
+
222  virtual void addToGUI(mc_rtc::gui::StateBuilder & gui,
+
223  const std::vector<std::string> & category,
+
224  double forceScale = constants::defaultForceScale,
+
225  double fricPyramidScale = constants::defaultFricPyramidScale,
+
226  const Eigen::VectorXd & wrenchRatio = Eigen::VectorXd::Zero(0)) override;
+
227 };
+
228 
+
230 class GraspContact : public Contact
+
231 {
+
232 public:
+
236  static void loadVerticesMap(const mc_rtc::Configuration & mcRtcConfig);
237 
-
239  std::vector<sva::PTransformd> localVertices_;
+
239  static inline std::unordered_map<std::string, std::vector<sva::PTransformd>> verticesMap;
240 
-
241 public:
-
242  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
242  std::vector<sva::PTransformd> localVertices_;
243 
-
251  GraspContact(const std::string & name,
-
252  double fricCoeff,
-
253  const std::vector<sva::PTransformd> & localVertices,
-
254  const sva::PTransformd & pose,
-
255  std::optional<sva::ForceVecd> maxWrench = std::nullopt);
-
256 
-
260  GraspContact(const mc_rtc::Configuration & mcRtcConfig);
-
261 
-
263  inline virtual std::string type() const override
-
264  {
-
265  return "Grasp";
-
266  }
-
267 
-
269  virtual void updateGlobalVertices(const sva::PTransformd & pose) override;
+
244 public:
+
245  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
246 
+
254  GraspContact(const std::string & name,
+
255  double fricCoeff,
+
256  const std::vector<sva::PTransformd> & localVertices,
+
257  const sva::PTransformd & pose,
+
258  std::optional<sva::ForceVecd> maxWrench = std::nullopt);
+
259 
+
263  GraspContact(const mc_rtc::Configuration & mcRtcConfig);
+
264 
+
266  inline virtual std::string type() const override
+
267  {
+
268  return "Grasp";
+
269  }
270 
-
278  virtual void addToGUI(mc_rtc::gui::StateBuilder & gui,
-
279  const std::vector<std::string> & category,
-
280  double forceScale = constants::defaultForceScale,
-
281  double fricPyramidScale = constants::defaultFricPyramidScale,
-
282  const Eigen::VectorXd & wrenchRatio = Eigen::VectorXd::Zero(0)) override;
-
283 };
-
284 
-
291 sva::ForceVecd calcTotalWrench(const std::vector<std::shared_ptr<Contact>> & contactList,
-
292  const Eigen::VectorXd & wrenchRatio,
-
293  const Eigen::Vector3d & momentOrigin = Eigen::Vector3d::Zero());
-
294 
-
301 std::vector<sva::ForceVecd> calcWrenchList(const std::vector<std::shared_ptr<Contact>> & contactList,
-
302  const Eigen::VectorXd & wrenchRatio,
-
303  const Eigen::Vector3d & momentOrigin = Eigen::Vector3d::Zero());
-
304 
-
310 std::vector<sva::ForceVecd> calcLocalWrenchList(const std::vector<std::shared_ptr<Contact>> & contactList,
-
311  const Eigen::VectorXd & wrenchRatio);
-
312 
-
321 template<template<class...> class MapType, class KeyType, class... RestTypes>
-
322 MapType<KeyType, sva::ForceVecd> calcWrenchList(
-
323  const MapType<KeyType, std::shared_ptr<Contact>, RestTypes...> & contactList,
-
324  const Eigen::VectorXd & wrenchRatio,
-
325  const Eigen::Vector3d & momentOrigin = Eigen::Vector3d::Zero());
-
326 
-
333 template<template<class...> class MapType, class KeyType, class... RestTypes>
-
334 std::vector<std::shared_ptr<Contact>> getContactVecFromMap(
-
335  const MapType<KeyType, std::shared_ptr<Contact>, RestTypes...> & contactList);
-
336 } // namespace ForceColl
-
337 
-
338 #include <ForceColl/Contact.hpp>
+
272  void updateLocalVertices(const std::vector<sva::PTransformd> & localVertices);
+
273 
+
275  virtual void updateGlobalVertices(const sva::PTransformd & pose) override;
+
276 
+
284  virtual void addToGUI(mc_rtc::gui::StateBuilder & gui,
+
285  const std::vector<std::string> & category,
+
286  double forceScale = constants::defaultForceScale,
+
287  double fricPyramidScale = constants::defaultFricPyramidScale,
+
288  const Eigen::VectorXd & wrenchRatio = Eigen::VectorXd::Zero(0)) override;
+
289 };
+
290 
+
297 sva::ForceVecd calcTotalWrench(const std::vector<std::shared_ptr<Contact>> & contactList,
+
298  const Eigen::VectorXd & wrenchRatio,
+
299  const Eigen::Vector3d & momentOrigin = Eigen::Vector3d::Zero());
+
300 
+
307 std::vector<sva::ForceVecd> calcWrenchList(const std::vector<std::shared_ptr<Contact>> & contactList,
+
308  const Eigen::VectorXd & wrenchRatio,
+
309  const Eigen::Vector3d & momentOrigin = Eigen::Vector3d::Zero());
+
310 
+
316 std::vector<sva::ForceVecd> calcLocalWrenchList(const std::vector<std::shared_ptr<Contact>> & contactList,
+
317  const Eigen::VectorXd & wrenchRatio);
+
318 
+
327 template<template<class...> class MapType, class KeyType, class... RestTypes>
+
328 MapType<KeyType, sva::ForceVecd> calcWrenchList(
+
329  const MapType<KeyType, std::shared_ptr<Contact>, RestTypes...> & contactList,
+
330  const Eigen::VectorXd & wrenchRatio,
+
331  const Eigen::Vector3d & momentOrigin = Eigen::Vector3d::Zero());
+
332 
+
339 template<template<class...> class MapType, class KeyType, class... RestTypes>
+
340 std::vector<std::shared_ptr<Contact>> getContactVecFromMap(
+
341  const MapType<KeyType, std::shared_ptr<Contact>, RestTypes...> & contactList);
+
342 } // namespace ForceColl
+
343 
+
344 #include <ForceColl/Contact.hpp>
Contact.hpp
ForceColl::Contact::type
virtual std::string type() const =0
Get type of contact.
ForceColl::constants::defaultForceScale
constexpr double defaultForceScale
Default scale of force markers.
Definition: Constants.h:8
ForceColl::calcTotalWrench
sva::ForceVecd calcTotalWrench(const std::vector< std::shared_ptr< Contact >> &contactList, const Eigen::VectorXd &wrenchRatio, const Eigen::Vector3d &momentOrigin=Eigen::Vector3d::Zero())
Calculate total wrench.
-
ForceColl::GraspContact::localVertices_
std::vector< sva::PTransformd > localVertices_
List of local verticies.
Definition: Contact.h:239
+
ForceColl::GraspContact::localVertices_
std::vector< sva::PTransformd > localVertices_
List of local verticies.
Definition: Contact.h:242
ForceColl::FrictionPyramid::ridgeNum
int ridgeNum() const
Number of ridges.
Definition: Contact.h:29
ForceColl::SurfaceContact::SurfaceContact
EIGEN_MAKE_ALIGNED_OPERATOR_NEW SurfaceContact(const std::string &name, double fricCoeff, const std::vector< Eigen::Vector3d > &localVertices, const sva::PTransformd &pose, std::optional< sva::ForceVecd > maxWrench=std::nullopt)
Constructor.
ForceColl::Contact::calcLocalWrench
sva::ForceVecd calcLocalWrench(const Eigen::VectorXd &wrenchRatio) const
Calculate the local wrench.
@@ -292,6 +296,7 @@
ForceColl::calcLocalWrenchList
std::vector< sva::ForceVecd > calcLocalWrenchList(const std::vector< std::shared_ptr< Contact >> &contactList, const Eigen::VectorXd &wrenchRatio)
Calculate local contact wrench list.
Constants.h
ForceColl::Contact::Contact
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Contact(const std::string &name, std::optional< sva::ForceVecd > maxWrench=std::nullopt)
Constructor.
+
ForceColl::GraspContact::updateLocalVertices
void updateLocalVertices(const std::vector< sva::PTransformd > &localVertices)
Update localVertices_ and localGraspMat_ according to the input pose.
ForceColl::Contact::VertexWithRidge::vertex
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d vertex
Vertex.
Definition: Contact.h:49
ForceColl::Contact::name_
std::string name_
Name of contact.
Definition: Contact.h:120
ForceColl::EmptyContact::updateGlobalVertices
virtual void updateGlobalVertices(const sva::PTransformd &pose) override
Update graspMat_ and vertexWithRidgeList_ according to the input pose.
@@ -301,9 +306,10 @@
ForceColl::EmptyContact::type
virtual std::string type() const override
Get type of contact.
Definition: Contact.h:155
ForceColl::FrictionPyramid::calcGlobalRidgeList
std::vector< Eigen::Vector3d > calcGlobalRidgeList(const Eigen::Matrix3d &rot) const
Calculate ridge vector list in global coordinates.
ForceColl::EmptyContact
Empty contact.
Definition: Contact.h:139
+
ForceColl::SurfaceContact::updateLocalVertices
void updateLocalVertices(const std::vector< Eigen::Vector3d > &localVertices)
Update localVertices_ and localGraspMat_ according to the input pose.
ForceColl::Contact::calcWrench
sva::ForceVecd calcWrench(const Eigen::VectorXd &wrenchRatio, const Eigen::Vector3d &momentOrigin=Eigen::Vector3d::Zero()) const
Calculate wrench.
ForceColl::GraspContact::GraspContact
EIGEN_MAKE_ALIGNED_OPERATOR_NEW GraspContact(const std::string &name, double fricCoeff, const std::vector< sva::PTransformd > &localVertices, const sva::PTransformd &pose, std::optional< sva::ForceVecd > maxWrench=std::nullopt)
Constructor.
-
ForceColl::GraspContact
Grasp contact.
Definition: Contact.h:227
+
ForceColl::GraspContact
Grasp contact.
Definition: Contact.h:230
ForceColl::SurfaceContact::loadVerticesMap
static void loadVerticesMap(const mc_rtc::Configuration &mcRtcConfig)
Load map of surface vertices in local coordinates.
ForceColl::calcWrenchList
std::vector< sva::ForceVecd > calcWrenchList(const std::vector< std::shared_ptr< Contact >> &contactList, const Eigen::VectorXd &wrenchRatio, const Eigen::Vector3d &momentOrigin=Eigen::Vector3d::Zero())
Calculate contact wrench list.
ForceColl::GraspContact::addToGUI
virtual void addToGUI(mc_rtc::gui::StateBuilder &gui, const std::vector< std::string > &category, double forceScale=constants::defaultForceScale, double fricPyramidScale=constants::defaultFricPyramidScale, const Eigen::VectorXd &wrenchRatio=Eigen::VectorXd::Zero(0)) override
Add markers to GUI.
@@ -316,7 +322,7 @@
ForceColl
Definition: Constants.h:3
ForceColl::SurfaceContact::updateGlobalVertices
virtual void updateGlobalVertices(const sva::PTransformd &pose) override
Update graspMat_ and vertexWithRidgeList_ according to the input pose.
ForceColl::Contact::VertexWithRidge
Vertex with ridges.
Definition: Contact.h:44
-
ForceColl::GraspContact::type
virtual std::string type() const override
Get type of contact.
Definition: Contact.h:263
+
ForceColl::GraspContact::type
virtual std::string type() const override
Get type of contact.
Definition: Contact.h:266
ForceColl::Contact::makeSharedFromConfig
static std::shared_ptr< Contact > makeSharedFromConfig(const mc_rtc::Configuration &mcRtcConfig)
Make shared pointer from mc_rtc configuration.
ForceColl::SurfaceContact::verticesMap
static std::unordered_map< std::string, std::vector< Eigen::Vector3d > > verticesMap
Map of surface vertices in local coordinates.
Definition: Contact.h:177
ForceColl::Contact::VertexWithRidge::VertexWithRidge
VertexWithRidge(const Eigen::Vector3d &_vertex, const std::vector< Eigen::Vector3d > &_ridgeList)
Constructor.
Definition: Contact.h:58
@@ -324,7 +330,7 @@
ForceColl::FrictionPyramid
Friction pyramid.
Definition: Contact.h:14
ForceColl::FrictionPyramid::localRidgeList_
std::vector< Eigen::Vector3d > localRidgeList_
Local ridge list.
Definition: Contact.h:36
ForceColl::constants::defaultFricPyramidScale
constexpr double defaultFricPyramidScale
Default scale of friction pyramid markers.
Definition: Constants.h:11
-
ForceColl::GraspContact::verticesMap
static std::unordered_map< std::string, std::vector< sva::PTransformd > > verticesMap
Map of grasp vertices in local coordinates.
Definition: Contact.h:236
+
ForceColl::GraspContact::verticesMap
static std::unordered_map< std::string, std::vector< sva::PTransformd > > verticesMap
Map of grasp vertices in local coordinates.
Definition: Contact.h:239
ForceColl::Contact::ridgeNum
int ridgeNum() const
Get the number of ridges.
Definition: Contact.h:83
ForceColl::GraspContact::loadVerticesMap
static void loadVerticesMap(const mc_rtc::Configuration &mcRtcConfig)
Load map of grasp vertices in local coordinates.
diff --git a/doxygen/classForceColl_1_1GraspContact-members.html b/doxygen/classForceColl_1_1GraspContact-members.html index c099016..73bacbf 100644 --- a/doxygen/classForceColl_1_1GraspContact-members.html +++ b/doxygen/classForceColl_1_1GraspContact-members.html @@ -96,8 +96,9 @@ ridgeNum() constForceColl::Contactinline type() const overrideForceColl::GraspContactinlinevirtual updateGlobalVertices(const sva::PTransformd &pose) overrideForceColl::GraspContactvirtual - vertexWithRidgeList_ForceColl::Contact - verticesMapForceColl::GraspContactinlinestatic + updateLocalVertices(const std::vector< sva::PTransformd > &localVertices)ForceColl::GraspContact + vertexWithRidgeList_ForceColl::Contact + verticesMapForceColl::GraspContactinlinestatic
diff --git a/doxygen/classForceColl_1_1GraspContact.html b/doxygen/classForceColl_1_1GraspContact.html index eea3d1e..5c0a699 100644 --- a/doxygen/classForceColl_1_1GraspContact.html +++ b/doxygen/classForceColl_1_1GraspContact.html @@ -117,6 +117,9 @@ virtual std::string type () const override  Get type of contact. More...
  +void updateLocalVertices (const std::vector< sva::PTransformd > &localVertices) + Update localVertices_ and localGraspMat_ according to the input pose. More...
+  virtual void updateGlobalVertices (const sva::PTransformd &pose) override  Update graspMat_ and vertexWithRidgeList_ according to the input pose. More...
  @@ -181,7 +184,7 @@

Detailed Description

Grasp contact.

-

Definition at line 227 of file Contact.h.

+

Definition at line 230 of file Contact.h.

Constructor & Destructor Documentation

◆ GraspContact() [1/2]

@@ -397,7 +400,7 @@

ForceColl::Contact.

-

Definition at line 263 of file Contact.h.

+

Definition at line 266 of file Contact.h.

@@ -429,6 +432,26 @@

ForceColl::Contact.

+ + + +

◆ updateLocalVertices()

+ +
+
+ + + + + + + + +
void ForceColl::GraspContact::updateLocalVertices (const std::vector< sva::PTransformd > & localVertices)
+
+ +

Update localVertices_ and localGraspMat_ according to the input pose.

+

Member Data Documentation

@@ -446,7 +469,7 @@

Definition at line 239 of file Contact.h.

+

Definition at line 242 of file Contact.h.

@@ -472,7 +495,7 @@

Definition at line 236 of file Contact.h.

+

Definition at line 239 of file Contact.h.

diff --git a/doxygen/classForceColl_1_1SurfaceContact-members.html b/doxygen/classForceColl_1_1SurfaceContact-members.html index 88484ee..e8eec7d 100644 --- a/doxygen/classForceColl_1_1SurfaceContact-members.html +++ b/doxygen/classForceColl_1_1SurfaceContact-members.html @@ -96,8 +96,9 @@ SurfaceContact(const mc_rtc::Configuration &mcRtcConfig)ForceColl::SurfaceContact type() const overrideForceColl::SurfaceContactinlinevirtual updateGlobalVertices(const sva::PTransformd &pose) overrideForceColl::SurfaceContactvirtual - vertexWithRidgeList_ForceColl::Contact - verticesMapForceColl::SurfaceContactinlinestatic + updateLocalVertices(const std::vector< Eigen::Vector3d > &localVertices)ForceColl::SurfaceContact + vertexWithRidgeList_ForceColl::Contact + verticesMapForceColl::SurfaceContactinlinestatic
diff --git a/doxygen/classForceColl_1_1SurfaceContact.html b/doxygen/classForceColl_1_1SurfaceContact.html index 79a0bc6..04a3f42 100644 --- a/doxygen/classForceColl_1_1SurfaceContact.html +++ b/doxygen/classForceColl_1_1SurfaceContact.html @@ -117,6 +117,9 @@ virtual std::string type () const override  Get type of contact. More...
  +void updateLocalVertices (const std::vector< Eigen::Vector3d > &localVertices) + Update localVertices_ and localGraspMat_ according to the input pose. More...
+  virtual void updateGlobalVertices (const sva::PTransformd &pose) override  Update graspMat_ and vertexWithRidgeList_ according to the input pose. More...
  @@ -429,6 +432,26 @@

ForceColl::Contact.

+ + + +

◆ updateLocalVertices()

+ +
+
+ + + + + + + + +
void ForceColl::SurfaceContact::updateLocalVertices (const std::vector< Eigen::Vector3d > & localVertices)
+
+ +

Update localVertices_ and localGraspMat_ according to the input pose.

+

Member Data Documentation

diff --git a/doxygen/functions.html b/doxygen/functions.html index c535ceb..aecb9ec 100644 --- a/doxygen/functions.html +++ b/doxygen/functions.html @@ -237,6 +237,10 @@

- u -

diff --git a/doxygen/functions_func.html b/doxygen/functions_func.html index ec8faae..198dc1c 100644 --- a/doxygen/functions_func.html +++ b/doxygen/functions_func.html @@ -173,6 +173,10 @@

- u -

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