#include <mc_solver/CollisionsConstraint.h>

Inheritance diagram for mc_solver::CollisionsConstraint:

Collaboration diagram for mc_solver::CollisionsConstraint:

Public Member Functions
	CollisionsConstraint (const mc_rbdyn::Robots &robots, unsigned int r1Index, unsigned int r2Index, double timeStep)

bool	removeCollision (QPSolver &solver, const std::string &b1Name, const std::string &b2Name)

void	removeCollisions (QPSolver &solver, const std::vector< mc_rbdyn::Collision > &cols)

bool	removeCollisionByBody (QPSolver &solver, const std::string &byName, const std::string &b2Name)

void	addCollision (QPSolver &solver, const mc_rbdyn::Collision &col)

void	addCollisions (QPSolver &solver, const std::vector< mc_rbdyn::Collision > &cols)

bool	hasCollision (const std::string &c1, const std::string &c2) const noexcept

void	reset ()

bool	automaticMonitor () const noexcept

void	automaticMonitor (bool a) noexcept

void	addToSolverImpl (QPSolver &solver) override

void	update (QPSolver &solver) override
	Update the constraint. More...

void	removeFromSolverImpl (QPSolver &solver) override

Public Member Functions inherited from mc_solver::ConstraintSet
	ConstraintSet ()

void	addToSolver (mc_solver::QPSolver &solver)

void	removeFromSolver (mc_solver::QPSolver &solver)

virtual	~ConstraintSet ()

bool	inSolver () const noexcept

QPSolver::Backend	backend () const noexcept

Public Attributes
mc_rtc::void_ptr	constraint_

unsigned int	r1Index

unsigned int	r2Index

std::vector< mc_rbdyn::Collision >	cols

Static Public Attributes
constexpr static double	defaultDampingOffset = 0.1

Additional Inherited Members
Protected Attributes inherited from mc_solver::ConstraintSet
QPSolver::Backend	backend_

bool	inSolver_ = false

Detailed Description

Creates a collision constraint manager between two robots.

If the two robots are the same, this effectively creates a self-collision constraint

Constructor & Destructor Documentation

◆ CollisionsConstraint()

mc_solver::CollisionsConstraint::CollisionsConstraint	(	const mc_rbdyn::Robots &	robots,
		unsigned int	r1Index,
		unsigned int	r2Index,
		double	timeStep
	)

Constructor

Parameters

robots	The robots for which the constraint will apply
r1Index	Index of the first robot affected by the constraint
r2Index	Index of the second robot affected by the constraint
Timestep	timeStep of the control

Member Function Documentation

◆ addCollision()

void mc_solver::CollisionsConstraint::addCollision	(	QPSolver &	solver,
		const mc_rbdyn::Collision &	col
	)

Add a collision represented by mc_rbdyn::Collision

The collision object is allowed to specify wildcard names to add multiple collisions at once, if body1 is named bodyA* and body2 is named bodyB* then collision constraints will be added for all convex objects in robot1 (resp. robot2) that start with bodyA (resp. bodyB)

Parameters

solver	The solver into which this constraint was added
col	The collision that should be added

◆ addCollisions()

void mc_solver::CollisionsConstraint::addCollisions	(	QPSolver &	solver,
		const std::vector< mc_rbdyn::Collision > &	cols
	)

Add a set of collisions

See also: addCollision for details on wildcard collision specification

Parameters

solver	The solver into which this constraint was added
cols	The set of collisions that should be added

◆ addToSolverImpl()

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

overridevirtual

Should take care of the actual insertion into a concrete solver

Implements mc_solver::ConstraintSet.

◆ automaticMonitor() [1/2]

bool mc_solver::CollisionsConstraint::automaticMonitor ( ) const

inlinenoexcept

Get the automated monitoring setting

◆ automaticMonitor() [2/2]

void mc_solver::CollisionsConstraint::automaticMonitor ( bool a )

inlinenoexcept

Set the automated monitoring setting

If true collisions, monitors are automatically added/removed depending on the collision activation

If false, monitors are managed by the user

◆ hasCollision()

bool mc_solver::CollisionsConstraint::hasCollision	(	const std::string &	c1,
		const std::string &	c2
	)		const

noexcept

Returns true if the given collision is in this constraint

◆ removeCollision()

bool mc_solver::CollisionsConstraint::removeCollision	(	QPSolver &	solver,
		const std::string &	b1Name,
		const std::string &	b2Name
	)

Remove a collision between two convexes

Parameters

solver	The solver into which this constraint was added
b1Name	Name of the first convex
b2Name	Name of the second convex

Returns: True if the collision was found and removed, false otherwise

◆ removeCollisionByBody()

bool mc_solver::CollisionsConstraint::removeCollisionByBody	(	QPSolver &	solver,
		const std::string &	byName,
		const std::string &	b2Name
	)

Remove all collisions between two bodies

Parameters

solver	The solver into which this constraint was added
b1Name	Name of the first body
b2Name	Name of the second body

Returns: True if at least one collision was removed, false otherwise

◆ removeCollisions()

void mc_solver::CollisionsConstraint::removeCollisions	(	QPSolver &	solver,
		const std::vector< mc_rbdyn::Collision > &	cols
	)

Remove a set of collisions

Parameters

solver	The solver into which this constraint was added
cols	List of collisions to remove

◆ removeFromSolverImpl()

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

overridevirtual

Should take care of the actual removal from a concrete solver

Implements mc_solver::ConstraintSet.

◆ reset()

void mc_solver::CollisionsConstraint::reset ( )

Remove all collisions from the constraint

◆ update()

void mc_solver::CollisionsConstraint::update ( QPSolver & )

overridevirtual

Update the constraint.

This is called at every iteration of the controller once the constraint has been added to a solver

Parameters

solver Solver in which the constraint has been inserted

Reimplemented from mc_solver::ConstraintSet.

Member Data Documentation

◆ cols

std::vector<mc_rbdyn::Collision> mc_solver::CollisionsConstraint::cols

Curent set of collisions

◆ constraint_

mc_rtc::void_ptr mc_solver::CollisionsConstraint::constraint_

Holds the constraint implementation

In Tasks backend:

tasks::qp::CollisionConstr

In TVM backend:

details::TVMCollisionConstraint

◆ defaultDampingOffset

constexpr static double mc_solver::CollisionsConstraint::defaultDampingOffset = 0.1

staticconstexpr

Default value of damping offset

◆ r1Index

unsigned int mc_solver::CollisionsConstraint::r1Index

Index of the first robot affected by the constraint

◆ r2Index

unsigned int mc_solver::CollisionsConstraint::r2Index

Index of the second robot affected by the constraint

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

include/mc_solver/CollisionsConstraint.h

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CollisionsConstraint()

Member Function Documentation

◆ addCollision()

◆ addCollisions()

◆ addToSolverImpl()

◆ automaticMonitor() [1/2]

◆ automaticMonitor() [2/2]

◆ hasCollision()

◆ removeCollision()

◆ removeCollisionByBody()

◆ removeCollisions()

◆ removeFromSolverImpl()

◆ reset()

◆ update()

Member Data Documentation

◆ cols

◆ constraint_

◆ defaultDampingOffset

◆ r1Index

◆ r2Index