tasks::qp::MotionConstrCommon Class Reference

#include <Tasks/QPMotionConstr.h>

Inheritance diagram for tasks::qp::MotionConstrCommon:

Collaboration diagram for tasks::qp::MotionConstrCommon:

Classes
struct	ContactData

Public Member Functions
	MotionConstrCommon (const std::vector< rbd::MultiBody > &mbs, int robotIndex, std::optional< Eigen::VectorXd > externalTorque=std::nullopt)
void	computeTorque (const Eigen::VectorXd &alphaD, const Eigen::VectorXd &lambda)
const Eigen::VectorXd &	torque () const
void	torque (const std::vector< rbd::MultiBody > &mbs, std::vector< rbd::MultiBodyConfig > &mbcs) const
virtual void	updateNrVars (const std::vector< rbd::MultiBody > &mbs, const SolverData &data) override
void	computeMatrix (const std::vector< rbd::MultiBody > &mb, const std::vector< rbd::MultiBodyConfig > &mbcs)
virtual std::string	nameGenInEq () const override
virtual std::string	descGenInEq (const std::vector< rbd::MultiBody > &mbs, int line) override
virtual int	maxGenInEq () const override
virtual const Eigen::MatrixXd &	AGenInEq () const override
virtual const Eigen::VectorXd &	LowerGenInEq () const override
virtual const Eigen::VectorXd &	UpperGenInEq () const override
void	setExternalTorques (const Eigen::VectorXd &torques)
void	clearExternalTorques ()
Public Member Functions inherited from tasks::qp::ConstraintFunction< GenInequality >
virtual	~ConstraintFunction () override
void	addToSolver (QPSolver &sol)
void	addToSolver (const std::vector< rbd::MultiBody > &mbs, QPSolver &sol)
void	removeFromSolver (QPSolver &sol)
Public Member Functions inherited from tasks::qp::Constraint
virtual	~Constraint ()
virtual void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const SolverData &data)=0

Protected Attributes
int	robotIndex_
int	alphaDBegin_
int	nrDof_
int	lambdaBegin_
rbd::ForwardDynamics	fd_
Eigen::MatrixXd	fullJacLambda_
Eigen::MatrixXd	jacTrans_
Eigen::MatrixXd	jacLambda_
std::vector< ContactData >	cont_
Eigen::VectorXd	curTorque_
std::optional< Eigen::VectorXd >	extTorque_
Eigen::MatrixXd	A_
Eigen::VectorXd	AL_
Eigen::VectorXd	AU_
size_t	updateIter_ = 0

Constructor & Destructor Documentation

MotionConstrCommon()

tasks::qp::MotionConstrCommon::MotionConstrCommon	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		std::optional< Eigen::VectorXd >	externalTorque = std::nullopt
	)

Member Function Documentation

AGenInEq()

virtual const Eigen::MatrixXd& tasks::qp::MotionConstrCommon::AGenInEq ( ) const

overridevirtual

clearExternalTorques()

void tasks::qp::MotionConstrCommon::clearExternalTorques

(

)

computeMatrix()

void tasks::qp::MotionConstrCommon::computeMatrix	(	const std::vector< rbd::MultiBody > &	mb,
		const std::vector< rbd::MultiBodyConfig > &	mbcs
	)

computeTorque()

void tasks::qp::MotionConstrCommon::computeTorque	(	const Eigen::VectorXd &	alphaD,
		const Eigen::VectorXd &	lambda
	)

descGenInEq()

virtual std::string tasks::qp::MotionConstrCommon::descGenInEq ( const std::vector< rbd::MultiBody > &  mbs, int  line  )

overridevirtual

LowerGenInEq()

virtual const Eigen::VectorXd& tasks::qp::MotionConstrCommon::LowerGenInEq ( ) const

overridevirtual

maxGenInEq()

virtual int tasks::qp::MotionConstrCommon::maxGenInEq ( ) const

overridevirtual

nameGenInEq()

virtual std::string tasks::qp::MotionConstrCommon::nameGenInEq ( ) const

overridevirtual

setExternalTorques()

void tasks::qp::MotionConstrCommon::setExternalTorques

(

const Eigen::VectorXd &

torques

)

torque() [1/2]

const Eigen::VectorXd& tasks::qp::MotionConstrCommon::torque

(

)

const

torque() [2/2]

void tasks::qp::MotionConstrCommon::torque	(	const std::vector< rbd::MultiBody > &	mbs,
		std::vector< rbd::MultiBodyConfig > &	mbcs
	)		const

updateNrVars()

virtual void tasks::qp::MotionConstrCommon::updateNrVars ( const std::vector< rbd::MultiBody > &  mbs, const SolverData &  data  )

overridevirtual

Implements tasks::qp::Constraint.

UpperGenInEq()

virtual const Eigen::VectorXd& tasks::qp::MotionConstrCommon::UpperGenInEq ( ) const

overridevirtual

Member Data Documentation

A_

Eigen::MatrixXd tasks::qp::MotionConstrCommon::A_

protected

AL_

Eigen::VectorXd tasks::qp::MotionConstrCommon::AL_

protected

alphaDBegin_

int tasks::qp::MotionConstrCommon::alphaDBegin_

protected

AU_

Eigen::VectorXd tasks::qp::MotionConstrCommon::AU_

protected

cont_

std::vector<ContactData> tasks::qp::MotionConstrCommon::cont_

protected

curTorque_

Eigen::VectorXd tasks::qp::MotionConstrCommon::curTorque_

protected

extTorque_

std::optional<Eigen::VectorXd> tasks::qp::MotionConstrCommon::extTorque_

protected

fd_

rbd::ForwardDynamics tasks::qp::MotionConstrCommon::fd_

protected

fullJacLambda_

Eigen::MatrixXd tasks::qp::MotionConstrCommon::fullJacLambda_

protected

jacLambda_

Eigen::MatrixXd tasks::qp::MotionConstrCommon::jacLambda_

protected

jacTrans_

Eigen::MatrixXd tasks::qp::MotionConstrCommon::jacTrans_

protected

lambdaBegin_

int tasks::qp::MotionConstrCommon::lambdaBegin_

protected

nrDof_

int tasks::qp::MotionConstrCommon::nrDof_

protected

robotIndex_

int tasks::qp::MotionConstrCommon::robotIndex_

protected

updateIter_

size_t tasks::qp::MotionConstrCommon::updateIter_ = 0

protected

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

• src/Tasks/QPMotionConstr.h