tasks::qp::JointLimitsConstr Class Reference

#include <Tasks/QPConstr.h>

Inheritance diagram for tasks::qp::JointLimitsConstr:

Collaboration diagram for tasks::qp::JointLimitsConstr:

Public Member Functions
	JointLimitsConstr (const std::vector< rbd::MultiBody > &mbs, int robotIndex, QBound bound, double step)
	JointLimitsConstr (const std::vector< rbd::MultiBody > &mbs, int robotIndex, QBound bound, const AlphaDBound &aDBound, double step)
	JointLimitsConstr (const std::vector< rbd::MultiBody > &mbs, int robotIndex, QBound bound, const AlphaDBound &aDBound, const AlphaDDBound &aDDBound, double step)
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 > &mbcs, const SolverData &data) override
virtual std::string	nameBound () const override
virtual std::string	descBound (const std::vector< rbd::MultiBody > &mbs, int line) override
virtual int	beginVar () const override
virtual const Eigen::VectorXd &	Lower () const override
virtual const Eigen::VectorXd &	Upper () const override
Public Member Functions inherited from tasks::qp::ConstraintFunction< Bound >
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

Avoid to reach articular position limits based on direct integration.

\[ \underline{q} \leq q + \alpha \Delta_{step} + \frac{1}{2} \dot{\alpha} \Delta_{step}^2 \leq \overline{q} \]

This constraint can be impossible to fulfill when articulation velocity is really high. Always prefer to use DamperJointLimitsConstr.

Constructor & Destructor Documentation

JointLimitsConstr() [1/3]

tasks::qp::JointLimitsConstr::JointLimitsConstr	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		QBound	bound,
		double	step
	)

Parameters

mbs	Multi-robot system.
robotIndex	Constrained robot Index in mbs.
bound	Articular position bounds.
step	Time step in second.

JointLimitsConstr() [2/3]

tasks::qp::JointLimitsConstr::JointLimitsConstr	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		QBound	bound,
		const AlphaDBound &	aDBound,
		double	step
	)

Parameters

mbs	Multi-robot system.
robotIndex	Constrained robot Index in mbs.
bound	Articular position bounds.
aDBound	Articular acceleration bounds.
step	Time step in second.

JointLimitsConstr() [3/3]

tasks::qp::JointLimitsConstr::JointLimitsConstr	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		QBound	bound,
		const AlphaDBound &	aDBound,
		const AlphaDDBound &	aDDBound,
		double	step
	)

Parameters

mbs	Multi-robot system.
robotIndex	Constrained robot Index in mbs.
bound	Articular position bounds.
aDBound	Articular acceleration bounds.
aDDBound	Articular jerk bounds.
step	Time step in second.

Member Function Documentation

beginVar()

virtual int tasks::qp::JointLimitsConstr::beginVar ( ) const

overridevirtual

descBound()

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

overridevirtual

Lower()

virtual const Eigen::VectorXd& tasks::qp::JointLimitsConstr::Lower ( ) const

overridevirtual

nameBound()

virtual std::string tasks::qp::JointLimitsConstr::nameBound ( ) const

overridevirtual

update()

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

overridevirtual

Implements tasks::qp::Constraint.

updateNrVars()

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

overridevirtual

Implements tasks::qp::Constraint.

Upper()

virtual const Eigen::VectorXd& tasks::qp::JointLimitsConstr::Upper ( ) const

overridevirtual

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

• src/Tasks/QPConstr.h