This class is a basis to wrap Constraint functions from Tasks. The aim of such wrappers should be two-folds: More...

#include <mc_solver/ConstraintSet.h>

Inheritance diagram for mc_solver::ConstraintSet:

Public Member Functions
	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

Protected Member Functions
virtual void	addToSolverImpl (mc_solver::QPSolver &solver)=0

virtual void	removeFromSolverImpl (mc_solver::QPSolver &solver)=0

Protected Attributes
QPSolver::Backend	backend_

bool	inSolver_ = false

Detailed Description

This class is a basis to wrap Constraint functions from Tasks. The aim of such wrappers should be two-folds:

provide a safe alternative to the Tasks version wrapped
make the class easier to use with mc_* facilities

Constructor & Destructor Documentation

◆ ConstraintSet()

mc_solver::ConstraintSet::ConstraintSet ( )

Constructor, register the solver backend at creation time

◆ ~ConstraintSet()

virtual mc_solver::ConstraintSet::~ConstraintSet ( )

inlinevirtual

Virtual destructor

Member Function Documentation

◆ addToSolver()

void mc_solver::ConstraintSet::addToSolver ( mc_solver::QPSolver & solver )

This is called by mc_solver::QPSolver when the constraint is added to the problem

◆ addToSolverImpl()

virtual void mc_solver::ConstraintSet::addToSolverImpl ( mc_solver::QPSolver & solver )

protectedpure virtual

Should take care of the actual insertion into a concrete solver

Implemented in mc_solver::CompoundJointConstraint, mc_solver::CollisionsConstraint, mc_solver::DynamicsConstraint, mc_solver::ContactConstraint, mc_solver::CoMIncPlaneConstr, mc_solver::BoundedSpeedConstr, and mc_solver::KinematicsConstraint.

◆ backend()

QPSolver::Backend mc_solver::ConstraintSet::backend ( ) const

inlinenoexcept

◆ inSolver()

bool mc_solver::ConstraintSet::inSolver ( ) const

inlinenoexcept

◆ removeFromSolver()

void mc_solver::ConstraintSet::removeFromSolver ( mc_solver::QPSolver & solver )

This is called by mc_solver::QPSolver when the constraint is removed from the problem

◆ removeFromSolverImpl()

virtual void mc_solver::ConstraintSet::removeFromSolverImpl ( mc_solver::QPSolver & solver )

protectedpure virtual

Should take care of the actual removal from a concrete solver

Implemented in mc_solver::CompoundJointConstraint, mc_solver::CollisionsConstraint, mc_solver::DynamicsConstraint, mc_solver::ContactConstraint, mc_solver::CoMIncPlaneConstr, mc_solver::BoundedSpeedConstr, and mc_solver::KinematicsConstraint.

◆ update()

virtual void mc_solver::ConstraintSet::update ( QPSolver & )

inlinevirtual

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 in mc_solver::CollisionsConstraint.

Member Data Documentation

◆ backend_

QPSolver::Backend mc_solver::ConstraintSet::backend_

protected

QPSolver backend when the constraint is created

◆ inSolver_

bool mc_solver::ConstraintSet::inSolver_ = false