tasks::qp::MotionConstr Class Reference

#include <Tasks/QPMotionConstr.h>

Inheritance diagram for tasks::qp::MotionConstr:

Collaboration diagram for tasks::qp::MotionConstr:

Public Member Functions
	MotionConstr (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const TorqueBound &tb)
	MotionConstr (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const TorqueBound &tb, const TorqueDBound &tdb, double dt)
virtual void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const SolverData &data) override
const Eigen::MatrixXd	matrix () const
Eigen::MatrixXd	contactMatrix () const
const rbd::ForwardDynamics	fd () const
Public Member Functions inherited from tasks::qp::MotionConstrCommon
	MotionConstrCommon (const std::vector< rbd::MultiBody > &mbs, int robotIndex)
void	computeTorque (const Eigen::VectorXd &alphaD, const Eigen::VectorXd &lambda)
const Eigen::VectorXd &	torque () const
void	torque (const std::vector< rbd::MultiBody > &mbs, std::vector< rbd::MultiBodyConfig > &mbcs) const
virtual void	updateNrVars (const std::vector< rbd::MultiBody > &mbs, const SolverData &data) override
void	computeMatrix (const std::vector< rbd::MultiBody > &mb, const std::vector< rbd::MultiBodyConfig > &mbcs)
virtual std::string	nameGenInEq () const override
virtual std::string	descGenInEq (const std::vector< rbd::MultiBody > &mbs, int line) override
virtual int	maxGenInEq () const override
virtual const Eigen::MatrixXd &	AGenInEq () const override
virtual const Eigen::VectorXd &	LowerGenInEq () const override
virtual const Eigen::VectorXd &	UpperGenInEq () const override
Public Member Functions inherited from tasks::qp::ConstraintFunction< GenInequality >
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 ()

Protected Attributes
Eigen::VectorXd	torqueL_
Eigen::VectorXd	torqueU_
Eigen::VectorXd	torqueDtL_
Eigen::VectorXd	torqueDtU_
Eigen::VectorXd	tmpL_
Eigen::VectorXd	tmpU_
Protected Attributes inherited from tasks::qp::MotionConstrCommon
int	robotIndex_
int	alphaDBegin_
int	nrDof_
int	lambdaBegin_
rbd::ForwardDynamics	fd_
Eigen::MatrixXd	fullJacLambda_
Eigen::MatrixXd	jacTrans_
Eigen::MatrixXd	jacLambda_
std::vector< ContactData >	cont_
Eigen::VectorXd	curTorque_
Eigen::MatrixXd	A_
Eigen::VectorXd	AL_
Eigen::VectorXd	AU_
size_t	updateIter_ = 0

Constructor & Destructor Documentation

MotionConstr() [1/2]

tasks::qp::MotionConstr::MotionConstr	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const TorqueBound &	tb
	)

MotionConstr() [2/2]

tasks::qp::MotionConstr::MotionConstr	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const TorqueBound &	tb,
		const TorqueDBound &	tdb,
		double	dt
	)

Member Function Documentation

contactMatrix()

Eigen::MatrixXd tasks::qp::MotionConstr::contactMatrix

(

)

const

fd()

const rbd::ForwardDynamics tasks::qp::MotionConstr::fd

(

)

const

matrix()

const Eigen::MatrixXd tasks::qp::MotionConstr::matrix ( ) const

inline

update()

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

overridevirtual

Implements tasks::qp::Constraint.

Reimplemented in tasks::qp::MotionSpringConstr.

Member Data Documentation

tmpL_

Eigen::VectorXd tasks::qp::MotionConstr::tmpL_

protected

tmpU_

Eigen::VectorXd tasks::qp::MotionConstr::tmpU_

protected

torqueDtL_

Eigen::VectorXd tasks::qp::MotionConstr::torqueDtL_

protected

torqueDtU_

Eigen::VectorXd tasks::qp::MotionConstr::torqueDtU_

protected

torqueL_

Eigen::VectorXd tasks::qp::MotionConstr::torqueL_

protected

torqueU_

Eigen::VectorXd tasks::qp::MotionConstr::torqueU_

protected

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

• src/Tasks/QPMotionConstr.h