tasks::qp Namespace Reference

Classes
class	LSSOLQPSolver
class	QLDQPSolver
class	GenQPSolver
class	JointLimitsConstr
class	DamperJointLimitsConstr
class	DistanceConstr
class	CollisionConstr
class	CoMIncPlaneConstr
class	GripperTorqueConstr
class	BoundedSpeedConstr
class	ImageConstr
class	ContactConstrCommon
class	ContactConstr
class	ContactAccConstr
class	ContactSpeedConstr
class	ContactPosConstr
struct	FrictionCone
struct	ContactId
struct	UnilateralContact
struct	BilateralContact
class	PositiveLambda
class	MotionConstrCommon
class	MotionConstr
struct	SpringJoint
class	MotionSpringConstr
class	MotionPolyConstr
	Use polynome in function of q to compute torque limits. BEWARE: Only work with 1 dof/param joint. More...
class	QPSolver
class	Constraint
class	ConstraintFunction
class	Equality
class	Inequality
class	GenInequality
class	Bound
class	Task
class	HighLevelTask
struct	constr_traits
struct	constr_traits< Equality >
struct	constr_traits< Inequality >
struct	constr_traits< GenInequality >
class	SolverData
class	SetPointTaskCommon
class	SetPointTask
class	TrackingTask
class	TrajectoryTask
class	PIDTask
class	TargetObjectiveTask
class	JointsSelector
struct	JointStiffness
struct	JointGains
class	TorqueTask
class	PostureTask
class	PositionTask
class	OrientationTask
class	TransformTaskCommon
class	SurfaceTransformTask
	TransformTask in surface frame. More...
class	TransformTask
	TransformTask in world or user frame. More...
class	SurfaceOrientationTask
class	GazeTask
class	PositionBasedVisServoTask
class	CoMTask
class	MultiCoMTask
class	MultiRobotTransformTask
class	MomentumTask
class	ContactTask
class	GripperTorqueTask
class	LinVelocityTask
class	OrientationTrackingTask
class	RelativeDistTask
class	VectorOrientationTask

Typedefs
using	clock = typename std::conditional< std::chrono::high_resolution_clock::is_steady, std::chrono::high_resolution_clock, std::chrono::steady_clock >::type

Functions
void	fillQC (const std::vector< Task * > &tasks, int nrVars, Eigen::MatrixXd &Q, Eigen::VectorXd &C)
void	reduceQC (const Eigen::MatrixXd &QFull, const Eigen::VectorXd &CFull, Eigen::MatrixXd &Q, Eigen::VectorXd &C, const Eigen::SparseMatrix< double > &M)
int	fillEq (const std::vector< Equality * > &eq, int nrVars, int nrALines, Eigen::MatrixXd &A, Eigen::VectorXd &AL, Eigen::VectorXd &AU)
int	fillInEq (const std::vector< Inequality * > &inEq, int nrVars, int nrALines, Eigen::MatrixXd &A, Eigen::VectorXd &AL, Eigen::VectorXd &AU)
int	fillGenInEq (const std::vector< GenInequality * > &genInEq, int nrVars, int nrALines, Eigen::MatrixXd &A, Eigen::VectorXd &AL, Eigen::VectorXd &AU)
int	fillEq (const std::vector< Equality * > &eq, int nrVars, int nrALines, Eigen::MatrixXd &A, Eigen::VectorXd &b)
int	fillInEq (const std::vector< Inequality * > &inEq, int nrVars, int nrALines, Eigen::MatrixXd &A, Eigen::VectorXd &b)
int	fillGenInEq (const std::vector< GenInequality * > &genInEq, int nrVars, int nrALines, Eigen::MatrixXd &A, Eigen::VectorXd &b)
void	fillBound (const std::vector< Bound * > &bounds, Eigen::VectorXd &XL, Eigen::VectorXd &XU)
void	reduceA (const Eigen::MatrixXd &AFull, Eigen::MatrixXd &A, const Eigen::SparseMatrix< double > &M)
void	reduceBound (const Eigen::VectorXd &XLFull, Eigen::VectorXd &XL, const Eigen::VectorXd &XUFull, Eigen::VectorXd &XU, const std::vector< int > &fullToReduced, const std::vector< int > &reducedToFull, const std::vector< std::tuple< int, int, double >> &dependencies)
void	expandResult (const Eigen::VectorXd &result, Eigen::VectorXd &resultFull, const Eigen::SparseMatrix< double > &multipliers)
template<typename T >
std::ostream &	printConstr (const Eigen::VectorXd &result, T *constr, int line, std::ostream &out)
template<>
std::ostream &	printConstr (const Eigen::VectorXd &result, Equality *constr, int line, std::ostream &out)
template<>
std::ostream &	printConstr (const Eigen::VectorXd &result, Inequality *constr, int line, std::ostream &out)
template<>
std::ostream &	printConstr (const Eigen::VectorXd &result, GenInequality *constr, int line, std::ostream &out)
template<typename T >
std::ostream &	constrErrorMsg (const std::vector< rbd::MultiBody > &mbs, const Eigen::VectorXd &result, int ALine, const std::vector< T * > &constr, int &start, int &end, std::ostream &out)
TASKS_DLLAPI GenQPSolver *	createQPSolver (const std::string &name)
TASKS_DLLAPI sch::Matrix4x4	tosch (const sva::PTransformd &t)
	Convert a sch-core transformation matrix to a sva::PTransformd matrix. More...
int	findJointFromVector (const rbd::MultiBody &mb, int line, bool withBase)
bool	compareDof (const rbd::MultiBody &mb1, const rbd::MultiBody &mb2)

Typedef Documentation

clock

using tasks::qp::clock = typedef typename std::conditional<std::chrono::high_resolution_clock::is_steady, std::chrono::high_resolution_clock, std::chrono::steady_clock>::type

clock is a clock that is always steady and thus suitable for performance measurements

Function Documentation

compareDof()

bool tasks::qp::compareDof ( const rbd::MultiBody &  mb1, const rbd::MultiBody &  mb2  )

inline

constrErrorMsg()

template<typename T >

std::ostream& tasks::qp::constrErrorMsg ( const std::vector< rbd::MultiBody > &  mbs, const Eigen::VectorXd &  result, int  ALine, const std::vector< T * > &  constr, int &  start, int &  end, std::ostream &  out  )

inline

createQPSolver()

TASKS_DLLAPI GenQPSolver* tasks::qp::createQPSolver

(

const std::string &

name

)

Factory to create GenQPSolver implementation. Two argument are supported QLD and LSSOL.

expandResult()

void tasks::qp::expandResult ( const Eigen::VectorXd &  result, Eigen::VectorXd &  resultFull, const Eigen::SparseMatrix< double > &  multipliers  )

inline

Return the full variable from the reduced variable

fillBound()

void tasks::qp::fillBound ( const std::vector< Bound * > &  bounds, Eigen::VectorXd &  XL, Eigen::VectorXd &  XU  )

inline

Fill the \( L \) and \( U \) bounds vectors based on the bound constaint list.

fillEq() [1/2]

int tasks::qp::fillEq ( const std::vector< Equality * > &  eq, int  nrVars, int  nrALines, Eigen::MatrixXd &  A, Eigen::VectorXd &  AL, Eigen::VectorXd &  AU  )

inline

Fill the \( A \) matrix and the \( L \) and \( U \) bounds vectors based on the equality constaint list.

fillEq() [2/2]

int tasks::qp::fillEq ( const std::vector< Equality * > &  eq, int  nrVars, int  nrALines, Eigen::MatrixXd &  A, Eigen::VectorXd &  b  )

inline

Fill the \( A \) matrix and the \( b \) vectors based on the equality constaint list.

fillGenInEq() [1/2]

int tasks::qp::fillGenInEq ( const std::vector< GenInequality * > &  genInEq, int  nrVars, int  nrALines, Eigen::MatrixXd &  A, Eigen::VectorXd &  AL, Eigen::VectorXd &  AU  )

inline

Fill the \( A \) matrix and the \( L \) and \( U \) bounds vectors based on the general inequality constaint list.

fillGenInEq() [2/2]

int tasks::qp::fillGenInEq ( const std::vector< GenInequality * > &  genInEq, int  nrVars, int  nrALines, Eigen::MatrixXd &  A, Eigen::VectorXd &  b  )

inline

Fill the \( A \) matrix and the \( b \) vectors based on the general inequality constaint list.

fillInEq() [1/2]

int tasks::qp::fillInEq ( const std::vector< Inequality * > &  inEq, int  nrVars, int  nrALines, Eigen::MatrixXd &  A, Eigen::VectorXd &  AL, Eigen::VectorXd &  AU  )

inline

Fill the \( A \) matrix and the \( L \) and \( U \) bounds vectors based on the inequality constaint list.

fillInEq() [2/2]

int tasks::qp::fillInEq ( const std::vector< Inequality * > &  inEq, int  nrVars, int  nrALines, Eigen::MatrixXd &  A, Eigen::VectorXd &  b  )

inline

Fill the \( A \) matrix and the \( b \) vectors based on the inequality constaint list.

fillQC()

void tasks::qp::fillQC ( const std::vector< Task * > &  tasks, int  nrVars, Eigen::MatrixXd &  Q, Eigen::VectorXd &  C  )

inline

Fill the \( Q \) matrix and the \( c \) vector based on the task list.

findJointFromVector()

int tasks::qp::findJointFromVector ( const rbd::MultiBody &  mb, int  line, bool  withBase  )

inline

printConstr() [1/4]

template<>

std::ostream& tasks::qp::printConstr ( const Eigen::VectorXd &  result, Equality *  constr, int  line, std::ostream &  out  )

inline

printConstr() [2/4]

template<>

std::ostream& tasks::qp::printConstr ( const Eigen::VectorXd &  result, GenInequality *  constr, int  line, std::ostream &  out  )

inline

printConstr() [3/4]

template<>

std::ostream& tasks::qp::printConstr ( const Eigen::VectorXd &  result, Inequality *  constr, int  line, std::ostream &  out  )

inline

printConstr() [4/4]

template<typename T >

std::ostream& tasks::qp::printConstr	(	const Eigen::VectorXd &	result,
		T *	constr,
		int	line,
		std::ostream &	out
	)

reduceA()

void tasks::qp::reduceA ( const Eigen::MatrixXd &  AFull, Eigen::MatrixXd &  A, const Eigen::SparseMatrix< double > &  M  )

inline

Reduce \( A \) matrix based on the multiplier and offset

In this form, all non bounds constraints are represented as:

\begin{align} A x \eq b A x \leq b L \leq A x \leq U \end{align}

Which we can rewrite as:

\begin{align} A M y \eq b A M y \leq b L \leq A M y \leq U \end{align}

reduceBound()

void tasks::qp::reduceBound ( const Eigen::VectorXd &  XLFull, Eigen::VectorXd &  XL, const Eigen::VectorXd &  XUFull, Eigen::VectorXd &  XU, const std::vector< int > &  fullToReduced, const std::vector< int > &  reducedToFull, const std::vector< std::tuple< int, int, double >> &  dependencies  )

inline

Reduce bounds vector based on the dependencies list

If alpha is negative, the upper/lower bounds should be inverted

reduceQC()

void tasks::qp::reduceQC ( const Eigen::MatrixXd &  QFull, const Eigen::VectorXd &  CFull, Eigen::MatrixXd &  Q, Eigen::VectorXd &  C, const Eigen::SparseMatrix< double > &  M  )

inline

Reduce \( Q \) matrix and the \( c \) vector using the multiplier matrix

Indeed, solving:

\begin{align} \underset{x}{\text{minimize }} & \frac{1}{2} x^T Q x + x^T c\\ \end{align}

Where:

\begin{align} x = M y \end{align}

Is equivalent to solving:

\begin{align} \underset{x}{\text{minimize }} & \frac{1}{2} y^T M ^T Q M y + y^T M^T c\\ \end{align}

tosch()

TASKS_DLLAPI sch::Matrix4x4 tasks::qp::tosch

(

const sva::PTransformd &

t

)

Convert a sch-core transformation matrix to a sva::PTransformd matrix.