tasks::qp::MotionPolyConstr Class Reference

Use polynome in function of q to compute torque limits. BEWARE: Only work with 1 dof/param joint. More...

#include <Tasks/QPMotionConstr.h>

Inheritance diagram for tasks::qp::MotionPolyConstr:

Collaboration diagram for tasks::qp::MotionPolyConstr:

Public Member Functions
	MotionPolyConstr (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const PolyTorqueBound &ptb)
virtual void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const SolverData &data) override
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
std::vector< Eigen::VectorXd >	torqueL_
std::vector< Eigen::VectorXd >	torqueU_
std::vector< int >	jointIndex_
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

Detailed Description

Use polynome in function of q to compute torque limits. BEWARE: Only work with 1 dof/param joint.

Constructor & Destructor Documentation

MotionPolyConstr()

tasks::qp::MotionPolyConstr::MotionPolyConstr	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const PolyTorqueBound &	ptb
	)

Member Function Documentation

update()

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

overridevirtual

Implements tasks::qp::Constraint.

Member Data Documentation

jointIndex_

std::vector<int> tasks::qp::MotionPolyConstr::jointIndex_

protected

torqueL_

std::vector<Eigen::VectorXd> tasks::qp::MotionPolyConstr::torqueL_

protected

torqueU_

std::vector<Eigen::VectorXd> tasks::qp::MotionPolyConstr::torqueU_

protected

---

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

• src/Tasks/QPMotionConstr.h