tasks::qp::Constraint Class Reference

#include <Tasks/QPSolver.h>

Inheritance diagram for tasks::qp::Constraint:

Public Member Functions
virtual	~Constraint ()
virtual void	updateNrVars (const std::vector< rbd::MultiBody > &msb, const SolverData &data)=0
virtual void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const SolverData &data)=0

Constructor & Destructor Documentation

~Constraint()

virtual tasks::qp::Constraint::~Constraint ( )

inlinevirtual

Member Function Documentation

update()

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

pure virtual

Implemented in tasks::qp::ImageConstr, tasks::qp::CoMIncPlaneConstr, tasks::qp::CollisionConstr, tasks::qp::ContactPosConstr, tasks::qp::ContactSpeedConstr, tasks::qp::DamperJointLimitsConstr, tasks::qp::ContactAccConstr, tasks::qp::MotionPolyConstr, tasks::qp::MotionConstr, tasks::qp::JointLimitsConstr, tasks::qp::BoundedSpeedConstr, tasks::qp::MotionSpringConstr, tasks::qp::PositiveLambda, and tasks::qp::GripperTorqueConstr.

updateNrVars()

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

pure virtual

Implemented in tasks::qp::ImageConstr, tasks::qp::BoundedSpeedConstr, tasks::qp::CoMIncPlaneConstr, tasks::qp::CollisionConstr, tasks::qp::DamperJointLimitsConstr, tasks::qp::ContactConstr, tasks::qp::JointLimitsConstr, tasks::qp::MotionConstrCommon, tasks::qp::PositiveLambda, and tasks::qp::GripperTorqueConstr.

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

• src/Tasks/QPSolver.h