mc_solver Namespace Reference

Namespaces
	details
	utils

Classes
class	BoundedSpeedConstr
class	CollisionsConstraint
class	CoMIncPlaneConstr
struct	CompoundJointConstraint
class	ConstraintSet
	This class is a basis to wrap Constraint functions from Tasks. The aim of such wrappers should be two-folds: More...
struct	ConstraintSetLoader
class	ContactConstraint
class	DynamicsConstraint
class	EqualityConstraintForce
class	EqualityConstraintLambda
class	EqualityConstraintRobot
struct	GenericLoader
class	GenInequalityConstraintForce
class	GenInequalityConstraintLambda
class	GenInequalityConstraintRobot
class	InequalityConstraintForce
class	InequalityConstraintLambda
class	InequalityConstraintRobot
class	KinematicsConstraint
struct	QPContactPtr
struct	QPContactPtrWPoints
class	QPSolver
struct	TasksQPSolver
struct	TVMQPSolver

Typedefs
using	CompoundJointConstraintDescription = mc_rbdyn::CompoundJointConstraintDescription
using	CompoundJointConstraintDescriptionVector = mc_rbdyn::CompoundJointConstraintDescriptionVector
using	ConstraintSetPtr = std::shared_ptr< ConstraintSet >

Functions
MC_RTC_diagnostic_push	MC_RTC_diagnostic_ignored (GCC, "-Wattributes") enum class MC_SOLVER_DLLAPI FeedbackType
TasksQPSolver &	tasks_solver (QPSolver &solver) noexcept
const TasksQPSolver &	tasks_solver (const QPSolver &solver) noexcept
TVMQPSolver &	tvm_solver (QPSolver &solver) noexcept
const TVMQPSolver &	tvm_solver (const QPSolver &solver) noexcept

Typedef Documentation

CompoundJointConstraintDescription

using mc_solver::CompoundJointConstraintDescription = typedef mc_rbdyn::CompoundJointConstraintDescription

CompoundJointConstraintDescriptionVector

using mc_solver::CompoundJointConstraintDescriptionVector = typedef mc_rbdyn::CompoundJointConstraintDescriptionVector

ConstraintSetPtr

using mc_solver::ConstraintSetPtr = typedef std::shared_ptr<ConstraintSet>

Function Documentation

MC_RTC_diagnostic_ignored()

MC_RTC_diagnostic_push mc_solver::MC_RTC_diagnostic_ignored	(	GCC	,
		"-Wattributes"
	)

Describe the type of feedback used to control the robot

No feedback, i.e. open-loop control

Synonyn for None

Use encoder values for actuated joints

Joints + encoder velocity obtained from numerical differentiation

Run in closed loop w.r.t realRobots using the observation pipeline and integrate over the control state of the system

Synonym for ObservedRobots

Run in closed loop w.r.t realRobots using the observation pipeline and integrate over the real state of the system

tasks_solver() [1/2]

const TasksQPSolver& mc_solver::tasks_solver ( const QPSolver &  solver )

inlinenoexcept

tasks_solver() [2/2]

TasksQPSolver& mc_solver::tasks_solver ( QPSolver &  solver )

inlinenoexcept

Helper to get a TasksQPSolver from a QPSolver instance

The caller should make sure the cast is valid by checking the QPSolver backend.

In debug the program will abort otherwise, in release UB abounds

tvm_solver() [1/2]

const TVMQPSolver& mc_solver::tvm_solver ( const QPSolver &  solver )

inlinenoexcept

tvm_solver() [2/2]

TVMQPSolver& mc_solver::tvm_solver ( QPSolver &  solver )

inlinenoexcept

Helper to get a TVMQPSolver from a QPSolver instance

The caller should make sure the cast is valid by checking the QPSolver backend.

In debug the program will abort otherwise, in release UB abounds