#include <Tasks/QPMotionConstr.h>

Inheritance diagram for tasks::qp::MotionSpringConstr:

Collaboration diagram for tasks::qp::MotionSpringConstr:

Classes
struct	SpringJointData

Public Member Functions
	MotionSpringConstr (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const TorqueBound &tb, const std::vector< SpringJoint > &springs)

	MotionSpringConstr (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const TorqueBound &tb, const TorqueDBound &tdb, double dt, const std::vector< SpringJoint > &springs)

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

Public Member Functions inherited from tasks::qp::MotionConstr
	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)

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
std::vector< SpringJointData >	springs_

Protected Attributes inherited from tasks::qp::MotionConstr
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

◆ MotionSpringConstr() [1/2]

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

◆ MotionSpringConstr() [2/2]

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

Member Function Documentation

◆ update()

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

overridevirtual

Reimplemented from tasks::qp::MotionConstr.

Member Data Documentation

◆ springs_

std::vector<SpringJointData> tasks::qp::MotionSpringConstr::springs_

protected

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

src/Tasks/QPMotionConstr.h

Classes

Public Member Functions