tasks::qp::QPSolver Class Reference

#include <Tasks/QPSolver.h>

Public Member Functions
	QPSolver ()
	~QPSolver ()
bool	solve (const std::vector< rbd::MultiBody > &mbs, std::vector< rbd::MultiBodyConfig > &mbcs)
bool	solveNoMbcUpdate (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs)
void	updateMbc (rbd::MultiBodyConfig &mbc, int robotIndex) const
	fill mbc with the solution of the problem More...
void	updateConstrSize ()
void	nrVars (const std::vector< rbd::MultiBody > &mbs, std::vector< UnilateralContact > uni, std::vector< BilateralContact > bi)
int	nrVars () const
void	updateTasksNrVars (const std::vector< rbd::MultiBody > &mbs) const
	call updateNrVars on all tasks More...
void	updateConstrsNrVars (const std::vector< rbd::MultiBody > &mbs) const
	call updateNrVars on all constraints More...
void	updateNrVars (const std::vector< rbd::MultiBody > &mbs) const
	call updateNrVars on all tasks and constraints More...
void	addEqualityConstraint (Equality *co)
void	removeEqualityConstraint (Equality *co)
int	nrEqualityConstraints () const
void	addInequalityConstraint (Inequality *co)
void	removeInequalityConstraint (Inequality *co)
int	nrInequalityConstraints () const
void	addGenInequalityConstraint (GenInequality *co)
void	removeGenInequalityConstraint (GenInequality *co)
int	nrGenInequalityConstraints () const
void	addBoundConstraint (Bound *co)
void	removeBoundConstraint (Bound *co)
int	nrBoundConstraints () const
void	addConstraint (Constraint *co)
void	addConstraint (const std::vector< rbd::MultiBody > &mbs, Constraint *co)
void	removeConstraint (Constraint *co)
int	nrConstraints () const
void	addTask (Task *task)
void	addTask (const std::vector< rbd::MultiBody > &mbs, Task *task)
void	removeTask (Task *task)
void	resetTasks ()
int	nrTasks () const
void	solver (const std::string &name)
std::string	solver () const
const SolverData &	data () const
SolverData &	data ()
const Eigen::VectorXd &	result () const
Eigen::VectorXd	alphaDVec () const
Eigen::VectorXd	alphaDVec (int rIndex) const
Eigen::VectorXd	lambdaVec () const
Eigen::VectorXd	lambdaVec (int cIndex) const
int	contactLambdaPosition (const ContactId &cId) const
boost::timer::cpu_times	solveTime () const
boost::timer::cpu_times	solveAndBuildTime () const

Protected Member Functions
void	preUpdate (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs)
void	postUpdate (const std::vector< rbd::MultiBody > &mbs, std::vector< rbd::MultiBodyConfig > &mbcs, bool success)

Constructor & Destructor Documentation

QPSolver()

tasks::qp::QPSolver::QPSolver

(

)

~QPSolver()

tasks::qp::QPSolver::~QPSolver

(

)

Member Function Documentation

addBoundConstraint()

void tasks::qp::QPSolver::addBoundConstraint

(

Bound *

co

)

addConstraint() [1/2]

void tasks::qp::QPSolver::addConstraint	(	const std::vector< rbd::MultiBody > &	mbs,
		Constraint *	co
	)

addConstraint() [2/2]

void tasks::qp::QPSolver::addConstraint

(

Constraint *

co

)

addEqualityConstraint()

void tasks::qp::QPSolver::addEqualityConstraint

(

Equality *

co

)

addGenInequalityConstraint()

void tasks::qp::QPSolver::addGenInequalityConstraint

(

GenInequality *

co

)

addInequalityConstraint()

void tasks::qp::QPSolver::addInequalityConstraint

(

Inequality *

co

)

addTask() [1/2]

void tasks::qp::QPSolver::addTask	(	const std::vector< rbd::MultiBody > &	mbs,
		Task *	task
	)

addTask() [2/2]

void tasks::qp::QPSolver::addTask

(

Task *

task

)

alphaDVec() [1/2]

Eigen::VectorXd tasks::qp::QPSolver::alphaDVec

(

)

const

alphaDVec() [2/2]

Eigen::VectorXd tasks::qp::QPSolver::alphaDVec

(

int

rIndex

)

const

contactLambdaPosition()

int tasks::qp::QPSolver::contactLambdaPosition

(

const ContactId &

cId

)

const

data() [1/2]

SolverData& tasks::qp::QPSolver::data

(

)

data() [2/2]

const SolverData& tasks::qp::QPSolver::data

(

)

const

lambdaVec() [1/2]

Eigen::VectorXd tasks::qp::QPSolver::lambdaVec

(

)

const

lambdaVec() [2/2]

Eigen::VectorXd tasks::qp::QPSolver::lambdaVec

(

int

cIndex

)

const

nrBoundConstraints()

int tasks::qp::QPSolver::nrBoundConstraints

(

)

const

nrConstraints()

int tasks::qp::QPSolver::nrConstraints

(

)

const

nrEqualityConstraints()

int tasks::qp::QPSolver::nrEqualityConstraints

(

)

const

nrGenInequalityConstraints()

int tasks::qp::QPSolver::nrGenInequalityConstraints

(

)

const

nrInequalityConstraints()

int tasks::qp::QPSolver::nrInequalityConstraints

(

)

const

nrTasks()

int tasks::qp::QPSolver::nrTasks

(

)

const

nrVars() [1/2]

int tasks::qp::QPSolver::nrVars

(

)

const

nrVars() [2/2]

void tasks::qp::QPSolver::nrVars	(	const std::vector< rbd::MultiBody > &	mbs,
		std::vector< UnilateralContact >	uni,
		std::vector< BilateralContact >	bi
	)

postUpdate()

void tasks::qp::QPSolver::postUpdate ( const std::vector< rbd::MultiBody > &  mbs, std::vector< rbd::MultiBodyConfig > &  mbcs, bool  success  )

protected

preUpdate()

void tasks::qp::QPSolver::preUpdate ( const std::vector< rbd::MultiBody > &  mbs, const std::vector< rbd::MultiBodyConfig > &  mbcs  )

protected

removeBoundConstraint()

void tasks::qp::QPSolver::removeBoundConstraint

(

Bound *

co

)

removeConstraint()

void tasks::qp::QPSolver::removeConstraint

(

Constraint *

co

)

removeEqualityConstraint()

void tasks::qp::QPSolver::removeEqualityConstraint

(

Equality *

co

)

removeGenInequalityConstraint()

void tasks::qp::QPSolver::removeGenInequalityConstraint

(

GenInequality *

co

)

removeInequalityConstraint()

void tasks::qp::QPSolver::removeInequalityConstraint

(

Inequality *

co

)

removeTask()

void tasks::qp::QPSolver::removeTask

(

Task *

task

)

resetTasks()

void tasks::qp::QPSolver::resetTasks

(

)

result()

const Eigen::VectorXd& tasks::qp::QPSolver::result

(

)

const

solve()

bool tasks::qp::QPSolver::solve	(	const std::vector< rbd::MultiBody > &	mbs,
		std::vector< rbd::MultiBodyConfig > &	mbcs
	)

solve the problem

Parameters

mbs	current multibody
mbcs	current state of the multibody and result of the solved problem

solveAndBuildTime()

boost::timer::cpu_times tasks::qp::QPSolver::solveAndBuildTime

(

)

const

solveNoMbcUpdate()

bool tasks::qp::QPSolver::solveNoMbcUpdate	(	const std::vector< rbd::MultiBody > &	mbs,
		const std::vector< rbd::MultiBodyConfig > &	mbcs
	)

solve the problem but don't fill mbc. This is usefull for the python binding.

Parameters

mbs	current multibody
mbc	current state of the multibody

solver() [1/2]

std::string tasks::qp::QPSolver::solver

(

)

const

solver() [2/2]

void tasks::qp::QPSolver::solver

(

const std::string &

name

)

solveTime()

boost::timer::cpu_times tasks::qp::QPSolver::solveTime

(

)

const

updateConstrSize()

void tasks::qp::QPSolver::updateConstrSize

(

)

updateConstrsNrVars()

void tasks::qp::QPSolver::updateConstrsNrVars

(

const std::vector< rbd::MultiBody > &

mbs

)

const

call updateNrVars on all constraints

updateMbc()

void tasks::qp::QPSolver::updateMbc	(	rbd::MultiBodyConfig &	mbc,
		int	robotIndex
	)		const

fill mbc with the solution of the problem

Parameters

mbc	reslut of the solved problem
robotIndex	robot index associated with mbc

updateNrVars()

void tasks::qp::QPSolver::updateNrVars

(

const std::vector< rbd::MultiBody > &

mbs

)

const

call updateNrVars on all tasks and constraints

updateTasksNrVars()

void tasks::qp::QPSolver::updateTasksNrVars

(

const std::vector< rbd::MultiBody > &

mbs

)

const

call updateNrVars on all tasks

---

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

• src/Tasks/QPSolver.h