tasks::qp::ContactConstr Class Reference

#include <Tasks/QPContactConstr.h>

Inheritance diagram for tasks::qp::ContactConstr:

Collaboration diagram for tasks::qp::ContactConstr:

Classes
struct	ContactData
struct	ContactSideData

Public Member Functions
	ContactConstr ()
void	updateDofContacts ()
virtual void	updateNrVars (const std::vector< rbd::MultiBody > &mbs, const SolverData &data) override
virtual std::string	descEq (const std::vector< rbd::MultiBody > &mbs, int line) override
virtual int	nrEq () const override
virtual int	maxEq () const override
virtual const Eigen::MatrixXd &	AEq () const override
virtual const Eigen::VectorXd &	bEq () const override
Public Member Functions inherited from tasks::qp::ConstraintFunction< Equality >
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
Public Member Functions inherited from tasks::qp::ContactConstrCommon
bool	addVirtualContact (const ContactId &contactId)
bool	removeVirtualContact (const ContactId &contactId)
	Remove a virtual contact. More...
void	resetVirtualContacts ()
	Remove all virtual contact. More...
bool	addDofContact (const ContactId &contactId, const Eigen::MatrixXd &dof)
bool	removeDofContact (const ContactId &contactId)
bool	hasDoFContact (const ContactId &id) const
const Eigen::MatrixXd &	dofContact (const ContactId &contactId)
void	resetDofContacts ()

Protected Member Functions
void	updateNrEq ()
Protected Member Functions inherited from tasks::qp::ContactConstrCommon
std::set< ContactCommon >	contactCommonInContact (const std::vector< rbd::MultiBody > &mbs, const SolverData &data)

Protected Attributes
std::vector< ContactData >	cont_
Eigen::MatrixXd	fullJac_
Eigen::MatrixXd	dofJac_
Eigen::MatrixXd	A_
Eigen::VectorXd	b_
int	nrEq_
int	totalAlphaD_
double	timeStep_
Protected Attributes inherited from tasks::qp::ContactConstrCommon
std::set< ContactId >	virtualContacts_
std::map< ContactId, Eigen::MatrixXd >	dofContacts_

Detailed Description

Common contact constraint computation.

Constructor & Destructor Documentation

ContactConstr()

tasks::qp::ContactConstr::ContactConstr

(

)

Member Function Documentation

AEq()

virtual const Eigen::MatrixXd& tasks::qp::ContactConstr::AEq ( ) const

overridevirtual

bEq()

virtual const Eigen::VectorXd& tasks::qp::ContactConstr::bEq ( ) const

overridevirtual

descEq()

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

overridevirtual

maxEq()

virtual int tasks::qp::ContactConstr::maxEq ( ) const

overridevirtual

nrEq()

virtual int tasks::qp::ContactConstr::nrEq ( ) const

overridevirtual

updateDofContacts()

void tasks::qp::ContactConstr::updateDofContacts

(

)

Update \( S \) matrix based on Dof contact. You must call this method after calling ContactConstrCommon::addDofContact, ContactConstrCommon::removeDofContact and ContactConstrCommon::resetDofContacts.

updateNrEq()

void tasks::qp::ContactConstr::updateNrEq ( )

protected

updateNrVars()

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

overridevirtual

Implements tasks::qp::Constraint.

Member Data Documentation

A_

Eigen::MatrixXd tasks::qp::ContactConstr::A_

protected

b_

Eigen::VectorXd tasks::qp::ContactConstr::b_

protected

cont_

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

protected

dofJac_

Eigen::MatrixXd tasks::qp::ContactConstr::dofJac_

protected

fullJac_

Eigen::MatrixXd tasks::qp::ContactConstr::fullJac_

protected

nrEq_

int tasks::qp::ContactConstr::nrEq_

protected

timeStep_

double tasks::qp::ContactConstr::timeStep_

protected

totalAlphaD_

int tasks::qp::ContactConstr::totalAlphaD_

protected

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

• src/Tasks/QPContactConstr.h