#include <Tasks/QPContactConstr.h>

Inheritance diagram for tasks::qp::ContactPosConstr:

Collaboration diagram for tasks::qp::ContactPosConstr:

Public Member Functions
	ContactPosConstr (double timeStep)

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

virtual std::string	nameEq () const override

Public Member Functions inherited from tasks::qp::ContactConstr
	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 ()

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 ()

Additional Inherited Members
Protected Member Functions inherited from tasks::qp::ContactConstr
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 inherited from tasks::qp::ContactConstr
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

Contact constraint by targeting a constant frame.

\[ v + a \Delta_{dt} = \frac{\epsilon(q)}{\Delta_{dt}} \]

Where \( \epsilon \) is the error between the initial and current contact frame.

This constraint formulation is stable in all case.

Constructor & Destructor Documentation

◆ ContactPosConstr()

tasks::qp::ContactPosConstr::ContactPosConstr ( double timeStep )

Parameters

timeStep Time step in second.

Member Function Documentation

◆ nameEq()

virtual std::string tasks::qp::ContactPosConstr::nameEq ( ) const

overridevirtual

◆ update()

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

overridevirtual

Implements tasks::qp::Constraint.

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

src/Tasks/QPContactConstr.h