Public Member Functions | Friends | List of all members
tasks::qp::SolverData Class Reference

#include <Tasks/QPSolverData.h>

Public Member Functions

 SolverData ()
 
int nrVars () const
 
int totalAlphaD () const
 
int totalLambda () const
 
int alphaD (int robotIndex) const
 
int lambda (int contactIndex) const
 
int alphaDBegin () const
 
int alphaDBegin (int robotIndex) const
 
int lambdaBegin () const
 
int lambdaBegin (int contactIndex) const
 
int nrUniLambda () const
 
int nrBiLambda () const
 
int unilateralBegin () const
 
int bilateralBegin () const
 
int nrContacts () const
 
const std::vector< UnilateralContact > & unilateralContacts () const
 
const std::vector< BilateralContact > & bilateralContacts () const
 
const std::vector< BilateralContact > & allContacts () const
 
void computeNormalAccB (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs)
 
const std::vector< std::vector< sva::MotionVecd > > & normalAccB () const
 
const std::vector< sva::MotionVecd > & normalAccB (int robotIndex) const
 

Friends

class QPSolver
 

Constructor & Destructor Documentation

◆ SolverData()

tasks::qp::SolverData::SolverData ( )

Member Function Documentation

◆ allContacts()

const std::vector<BilateralContact>& tasks::qp::SolverData::allContacts ( ) const
inline

◆ alphaD()

int tasks::qp::SolverData::alphaD ( int  robotIndex) const
inline

◆ alphaDBegin() [1/2]

int tasks::qp::SolverData::alphaDBegin ( ) const
inline

◆ alphaDBegin() [2/2]

int tasks::qp::SolverData::alphaDBegin ( int  robotIndex) const
inline

◆ bilateralBegin()

int tasks::qp::SolverData::bilateralBegin ( ) const
inline

◆ bilateralContacts()

const std::vector<BilateralContact>& tasks::qp::SolverData::bilateralContacts ( ) const
inline

◆ computeNormalAccB()

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

◆ lambda()

int tasks::qp::SolverData::lambda ( int  contactIndex) const
inline

◆ lambdaBegin() [1/2]

int tasks::qp::SolverData::lambdaBegin ( ) const
inline

◆ lambdaBegin() [2/2]

int tasks::qp::SolverData::lambdaBegin ( int  contactIndex) const
inline

◆ normalAccB() [1/2]

const std::vector<std::vector<sva::MotionVecd> >& tasks::qp::SolverData::normalAccB ( ) const
inline

◆ normalAccB() [2/2]

const std::vector<sva::MotionVecd>& tasks::qp::SolverData::normalAccB ( int  robotIndex) const
inline

◆ nrBiLambda()

int tasks::qp::SolverData::nrBiLambda ( ) const
inline

◆ nrContacts()

int tasks::qp::SolverData::nrContacts ( ) const
inline

◆ nrUniLambda()

int tasks::qp::SolverData::nrUniLambda ( ) const
inline

◆ nrVars()

int tasks::qp::SolverData::nrVars ( ) const
inline

◆ totalAlphaD()

int tasks::qp::SolverData::totalAlphaD ( ) const
inline

◆ totalLambda()

int tasks::qp::SolverData::totalLambda ( ) const
inline

◆ unilateralBegin()

int tasks::qp::SolverData::unilateralBegin ( ) const
inline

◆ unilateralContacts()

const std::vector<UnilateralContact>& tasks::qp::SolverData::unilateralContacts ( ) const
inline

Friends And Related Function Documentation

◆ QPSolver

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