mc_solver::CompoundJointConstraint Struct Reference
#include <mc_solver/CompoundJointConstraint.h>
Inheritance diagram for mc_solver::CompoundJointConstraint:
Collaboration diagram for mc_solver::CompoundJointConstraint:
Public Member Functions | |
| CompoundJointConstraint (const mc_rbdyn::Robots &robots, unsigned int robotIndex, double dt) | |
| CompoundJointConstraint (const mc_rbdyn::Robots &robot, unsigned int robotIndex, double dt, const CompoundJointConstraintDescriptionVector &cs) | |
| void | addToSolverImpl (QPSolver &solver) override |
| void | removeFromSolverImpl (QPSolver &solver) override |
 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
Adds a compound joint constraint for a given robot
Constructor & Destructor Documentation
◆ CompoundJointConstraint() [1/2]
| mc_solver::CompoundJointConstraint::CompoundJointConstraint | ( | const mc_rbdyn::Robots & | robots, |
| unsigned int | robotIndex, | ||
| double | dt | ||
| ) |
◆ CompoundJointConstraint() [2/2]
| mc_solver::CompoundJointConstraint::CompoundJointConstraint | ( | const mc_rbdyn::Robots & | robot, |
| unsigned int | robotIndex, | ||
| double | dt, | ||
| const CompoundJointConstraintDescriptionVector & | cs | ||
| ) |
Member Function Documentation
◆ addToSolverImpl()
|
overridevirtual |
Should take care of the actual insertion into a concrete solver
Implements mc_solver::ConstraintSet.
◆ removeFromSolverImpl()
|
overridevirtual |
Should take care of the actual removal from a concrete solver
Implements mc_solver::ConstraintSet.
The documentation for this struct was generated from the following file:
- include/mc_solver/CompoundJointConstraint.h
