tasks::qp::BoundedSpeedConstr Class Reference

#include <Tasks/QPConstr.h>

Inheritance diagram for tasks::qp::BoundedSpeedConstr:

Collaboration diagram for tasks::qp::BoundedSpeedConstr:

Public Member Functions
	BoundedSpeedConstr (const std::vector< rbd::MultiBody > &mbs, int robotIndex, double timeStep)
void	addBoundedSpeed (const std::vector< rbd::MultiBody > &mbs, const std::string &bodyName, const Eigen::Vector3d &bodyPoint, const Eigen::MatrixXd &dof, const Eigen::VectorXd &speed)
void	addBoundedSpeed (const std::vector< rbd::MultiBody > &mbs, const std::string &bodyName, const Eigen::Vector3d &bodyPoint, const Eigen::MatrixXd &dof, const Eigen::VectorXd &lowerSpeed, const Eigen::VectorXd &upperSpeed)
bool	removeBoundedSpeed (const std::string &bodyName)
void	resetBoundedSpeeds ()
	Remove all bounded speed constraint. More...
std::size_t	nrBoundedSpeeds () const
void	updateBoundedSpeeds ()
	Reallocate A and b matrix. More...
virtual void	updateNrVars (const std::vector< rbd::MultiBody > &mbs, const SolverData &data) override
virtual void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbc, const SolverData &data) override
virtual std::string	nameGenInEq () const override
virtual std::string	descGenInEq (const std::vector< rbd::MultiBody > &mb, 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
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 ()

Detailed Description

Constraint some link velocity in link frame by direct integration.

\[ S (\underline{v} - v) \leq S a \Delta_{dt} \leq S (\overline{v} - v) \]

with \( \underline{v} \) and \( \overline{v} \) the velocity lower and upper bound, \( v \) the link velocity in link frame, \( a \) the link acceleration in link frame and \( S \) the axis selection matrix.

Constructor & Destructor Documentation

BoundedSpeedConstr()

tasks::qp::BoundedSpeedConstr::BoundedSpeedConstr	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		double	timeStep
	)

Parameters

mbs	Multi-robot system.
robotIndex	Constrained robot Index in mbs.
timeStep	Time step in second.

Member Function Documentation

addBoundedSpeed() [1/2]

void tasks::qp::BoundedSpeedConstr::addBoundedSpeed	(	const std::vector< rbd::MultiBody > &	mbs,
		const std::string &	bodyName,
		const Eigen::Vector3d &	bodyPoint,
		const Eigen::MatrixXd &	dof,
		const Eigen::VectorXd &	lowerSpeed,
		const Eigen::VectorXd &	upperSpeed
	)

Add a bounded speed constraint. Don't forget to call updateBoundedSpeeds and QPSolver::updateConstrSize. You can also only call QPSolver::nrVars or QPSolver::updateConstrsNrVars or QPSolver::updateNrVars.

Parameters

mbs	Multi-robot system (must be the same given in the constructor.
bodyId	Constrained body id in mbs[robotIndex].
bodyPoint	static translation applied on the link \( v = xlt(bodyPoint) v_{bodyId} \).
dof	\( S \in \mathbb{R}^{n \times 6} \).
lowerSpeed	Lower velocity \( \underline{v} \in \mathbb{R}^{n} \).
upperSpeed	Upper velocity \( \overline{v} \in \mathbb{R}^{n} \).

addBoundedSpeed() [2/2]

void tasks::qp::BoundedSpeedConstr::addBoundedSpeed	(	const std::vector< rbd::MultiBody > &	mbs,
		const std::string &	bodyName,
		const Eigen::Vector3d &	bodyPoint,
		const Eigen::MatrixXd &	dof,
		const Eigen::VectorXd &	speed
	)

Add a targeted speed constraint. Don't forget to call updateBoundedSpeeds and QPSolver::updateConstrSize. You can also only call QPSolver::nrVars or QPSolver::updateConstrsNrVars or QPSolver::updateNrVars.

Parameters

mbs	Multi-robot system (must be the same given in the constructor.
bodyId	Constrained body id in mbs[robotIndex].
bodyPoint	static translation applied on the link \( v = xlt(bodyPoint) v_{bodyId} \).
dof	\( S \in \mathbb{R}^{n \times 6} \).
speed	Targeted velocity \( \underline{v} \in \mathbb{R}^{n} \) and \( \overline{v} \in \mathbb{R}^{n} \).

AGenInEq()

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

overridevirtual

descGenInEq()

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

overridevirtual

LowerGenInEq()

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

overridevirtual

maxGenInEq()

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

overridevirtual

nameGenInEq()

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

overridevirtual

nrBoundedSpeeds()

std::size_t tasks::qp::BoundedSpeedConstr::nrBoundedSpeeds

(

)

const

Returns

Number of bounded speed constraint.

removeBoundedSpeed()

bool tasks::qp::BoundedSpeedConstr::removeBoundedSpeed

(

const std::string &

bodyName

)

Remove a bounded speed constraint.

Parameters

bodyName

Remove the constraint applied on bodyName.

Returns

true if the constraint has been removed false if bodyId was associated with no constraint.

resetBoundedSpeeds()

void tasks::qp::BoundedSpeedConstr::resetBoundedSpeeds

(

)

Remove all bounded speed constraint.

update()

virtual void tasks::qp::BoundedSpeedConstr::update ( const std::vector< rbd::MultiBody > &  mbs, const std::vector< rbd::MultiBodyConfig > &  mbc, const SolverData &  data  )

overridevirtual

Implements tasks::qp::Constraint.

updateBoundedSpeeds()

void tasks::qp::BoundedSpeedConstr::updateBoundedSpeeds

(

)

Reallocate A and b matrix.

updateNrVars()

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

overridevirtual

Implements tasks::qp::Constraint.

UpperGenInEq()

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

overridevirtual

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

• src/Tasks/QPConstr.h