CoMIncPlaneConstr.h

Go to the documentation of this file.

/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_solver/ConstraintSet.h>
 
#include <mc_rtc/deprecated.h>
 
#include <mc_rbdyn/polygon_utils.h>
 
#include <mc_rtc/void_ptr.h>
 
namespace mc_solver
{
 
struct MC_SOLVER_DLLAPI CoMIncPlaneConstr : public ConstraintSet
{
public:
  CoMIncPlaneConstr(const mc_rbdyn::Robots & robots, unsigned int robotIndex, double dt);
 
  void addToSolverImpl(QPSolver & solver) override;
 
  void removeFromSolverImpl(QPSolver & solver) override;
 
  void setActiveJoints(const std::vector<std::string> & joints);
 
  void setInactiveJoints(const std::vector<std::string> & joints);
 
  void resetActiveJoints();
 
  MC_RTC_DEPRECATED inline void set_planes(QPSolver & solver,
                                           const std::vector<mc_rbdyn::Plane> & planes,
                                           const std::vector<Eigen::Vector3d> & speeds = {},
                                           const std::vector<Eigen::Vector3d> & normalsDots = {},
                                           double iDist = 0.05,
                                           double sDist = 0.01,
                                           double damping = 0.1,
                                           double dampingOff = 0.)
  {
    setPlanes(solver, planes, speeds, normalsDots, iDist, sDist, damping, dampingOff);
  }
 
  void setPlanes(QPSolver & solver,
                 const std::vector<mc_rbdyn::Plane> & planes,
                 const std::vector<Eigen::Vector3d> & speeds = {},
                 const std::vector<Eigen::Vector3d> & normalsDots = {},
                 double iDist = 0.05,
                 double sDist = 0.01,
                 double damping = 0.1,
                 double dampingOff = 0.);
 
private:
  mc_rtc::void_ptr constraint_;
};
 
} // namespace mc_solver