Classes | Public Member Functions | List of all members
tasks::qp::GripperTorqueConstr Class Reference

#include <Tasks/QPConstr.h>

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Public Member Functions

 GripperTorqueConstr ()
 
void addGripper (const ContactId &cId, double torqueLimit, const Eigen::Vector3d &origin, const Eigen::Vector3d &axis)
 
bool rmGripper (const ContactId &cId)
 
void reset ()
 
virtual void updateNrVars (const std::vector< rbd::MultiBody > &mb, const SolverData &data) override
 
virtual void update (const std::vector< rbd::MultiBody > &mb, const std::vector< rbd::MultiBodyConfig > &mbc, const SolverData &data) override
 
virtual std::string nameInEq () const override
 
virtual std::string descInEq (const std::vector< rbd::MultiBody > &mb, int line) override
 
virtual int maxInEq () const override
 
virtual const Eigen::MatrixXd & AInEq () const override
 
virtual const Eigen::VectorXd & bInEq () const override
 
- Public Member Functions inherited from tasks::qp::ConstraintFunction< Inequality >
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 ()
 

Constructor & Destructor Documentation

◆ GripperTorqueConstr()

tasks::qp::GripperTorqueConstr::GripperTorqueConstr ( )

Member Function Documentation

◆ addGripper()

void tasks::qp::GripperTorqueConstr::addGripper ( const ContactId &  cId,
double  torqueLimit,
const Eigen::Vector3d &  origin,
const Eigen::Vector3d &  axis 
)

◆ AInEq()

virtual const Eigen::MatrixXd& tasks::qp::GripperTorqueConstr::AInEq ( ) const
overridevirtual

◆ bInEq()

virtual const Eigen::VectorXd& tasks::qp::GripperTorqueConstr::bInEq ( ) const
overridevirtual

◆ descInEq()

virtual std::string tasks::qp::GripperTorqueConstr::descInEq ( const std::vector< rbd::MultiBody > &  mb,
int  line 
)
overridevirtual

◆ maxInEq()

virtual int tasks::qp::GripperTorqueConstr::maxInEq ( ) const
overridevirtual

◆ nameInEq()

virtual std::string tasks::qp::GripperTorqueConstr::nameInEq ( ) const
overridevirtual

◆ reset()

void tasks::qp::GripperTorqueConstr::reset ( )

◆ rmGripper()

bool tasks::qp::GripperTorqueConstr::rmGripper ( const ContactId &  cId)

◆ update()

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

Implements tasks::qp::Constraint.

◆ updateNrVars()

virtual void tasks::qp::GripperTorqueConstr::updateNrVars ( const std::vector< rbd::MultiBody > &  mb,
const SolverData &  data 
)
overridevirtual

Implements tasks::qp::Constraint.

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