mc_solver::BoundedSpeedConstr Class Reference

#include <mc_solver/BoundedSpeedConstr.h>

Inheritance diagram for mc_solver::BoundedSpeedConstr:

Collaboration diagram for mc_solver::BoundedSpeedConstr:

Public Member Functions
	BoundedSpeedConstr (const mc_rbdyn::Robots &robots, unsigned int robotIndex, double dt)
void	addToSolverImpl (QPSolver &solver) override
void	removeFromSolverImpl (QPSolver &solver) override
void	addBoundedSpeed (QPSolver &solver, const std::string &bodyName, const Eigen::Vector3d &bodyPoint, const Eigen::MatrixXd &dof, const Eigen::VectorXd &speed)
void	addBoundedSpeed (QPSolver &solver, const std::string &bodyName, const Eigen::Vector3d &bodyPoint, const Eigen::MatrixXd &dof, const Eigen::VectorXd &lowerSpeed, const Eigen::VectorXd &upperSpeed)
void	addBoundedSpeed (QPSolver &solver, const mc_rbdyn::RobotFrame &frame, const Eigen::MatrixXd &dof, const Eigen::VectorXd &speed)
void	addBoundedSpeed (QPSolver &solver, const mc_rbdyn::RobotFrame &frame, const Eigen::MatrixXd &dof, const Eigen::VectorXd &lowerSpeed, const Eigen::VectorXd &upperSpeed)
bool	removeBoundedSpeed (QPSolver &solver, const std::string &frameName)
size_t	nrBoundedSpeeds () const
void	reset (QPSolver &solver)
Public Member Functions inherited from mc_solver::ConstraintSet
	ConstraintSet ()
void	addToSolver (mc_solver::QPSolver &solver)
virtual void	update (QPSolver &)
	Update the constraint. More...
void	removeFromSolver (mc_solver::QPSolver &solver)
virtual	~ConstraintSet ()
bool	inSolver () const noexcept
QPSolver::Backend	backend () const noexcept

Additional Inherited Members
Protected Attributes inherited from mc_solver::ConstraintSet
QPSolver::Backend	backend_
bool	inSolver_ = false

Detailed Description

Manage constraints on the speed of a given frame

Constructor & Destructor Documentation

BoundedSpeedConstr()

mc_solver::BoundedSpeedConstr::BoundedSpeedConstr	(	const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		double	dt
	)

Member Function Documentation

addBoundedSpeed() [1/4]

void mc_solver::BoundedSpeedConstr::addBoundedSpeed	(	QPSolver &	solver,
		const mc_rbdyn::RobotFrame &	frame,
		const Eigen::MatrixXd &	dof,
		const Eigen::VectorXd &	lowerSpeed,
		const Eigen::VectorXd &	upperSpeed
	)

Add a fixed speed constraint on the given frame

Parameters

solver	Solver where this constraint exists
frame	Frame affected by this constraint
dof	Can select degrees of freedom, must be of size (6, n), 1 <= n <= 6
lowerSpeed	Lower bound speed on the selected dof, must of be of size n
upperSpeed	Upper bound speed on the selected dof, must of be of size n

addBoundedSpeed() [2/4]

void mc_solver::BoundedSpeedConstr::addBoundedSpeed ( QPSolver &  solver, const mc_rbdyn::RobotFrame &  frame, const Eigen::MatrixXd &  dof, const Eigen::VectorXd &  speed  )

inline

Add a fixed speed constraint on the given frame

Parameters

solver	Solver where this constraint exists
frame	Frame affected by this constraint
dof	Can select degrees of freedom, must be of size (6, n), 1 <= n <= 6
speed	Target speed on the selected dof, must of be of size n

addBoundedSpeed() [3/4]

void mc_solver::BoundedSpeedConstr::addBoundedSpeed	(	QPSolver &	solver,
		const std::string &	bodyName,
		const Eigen::Vector3d &	bodyPoint,
		const Eigen::MatrixXd &	dof,
		const Eigen::VectorXd &	lowerSpeed,
		const Eigen::VectorXd &	upperSpeed
	)

Add a bounded speed constraint on the given body

Parameters

solver	Solver where this constraint exists
bodyName	Body affected by this constraint
bodyPoint	Point on the given body to affect
dof	Can select degrees of freedom, must be of size (6, n), 1 <= n <= 6
lowerSpeed	Lower bound speed on the selected dof, must of be of size n
upperSpeed	Upper bound speed on the selected dof, must of be of size n

addBoundedSpeed() [4/4]

void mc_solver::BoundedSpeedConstr::addBoundedSpeed ( QPSolver &  solver, const std::string &  bodyName, const Eigen::Vector3d &  bodyPoint, const Eigen::MatrixXd &  dof, const Eigen::VectorXd &  speed  )

inline

Add a fixed speed constraint on the given body

Parameters

solver	Solver where this constraint exists
bodyName	Body affected by this constraint
bodyPoint	Point on the given body to affect
dof	Can select degrees of freedom, must be of size (6, n), 1 <= n <= 6
speed	Target speed on the selected dof, must of be of size n

addToSolverImpl()

void mc_solver::BoundedSpeedConstr::addToSolverImpl ( QPSolver &  solver )

overridevirtual

Should take care of the actual insertion into a concrete solver

Implements mc_solver::ConstraintSet.

nrBoundedSpeeds()

size_t mc_solver::BoundedSpeedConstr::nrBoundedSpeeds

(

)

const

removeBoundedSpeed()

bool mc_solver::BoundedSpeedConstr::removeBoundedSpeed	(	QPSolver &	solver,
		const std::string &	frameName
	)

Remove all constraints associated to a body or a frame

removeFromSolverImpl()

void mc_solver::BoundedSpeedConstr::removeFromSolverImpl ( QPSolver &  solver )

overridevirtual

Should take care of the actual removal from a concrete solver

Implements mc_solver::ConstraintSet.

reset()

void mc_solver::BoundedSpeedConstr::reset

(

QPSolver &

solver

)

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

• include/mc_solver/BoundedSpeedConstr.h