mc_solver::ContactConstraint Class Reference

#include <mc_solver/ContactConstraint.h>

Inheritance diagram for mc_solver::ContactConstraint:

Collaboration diagram for mc_solver::ContactConstraint:

Public Types
enum	ContactType { Acceleration = 0, Velocity = 1, Position = 2 }

Public Member Functions
	ContactConstraint (double timeStep, ContactType contactType=Velocity)
void	addToSolverImpl (QPSolver &solver) override
void	removeFromSolverImpl (QPSolver &solver) override
tasks::qp::ContactConstr *	contactConstr ()
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

Handle geometric constraints on contacts

Member Enumeration Documentation

ContactType

enum mc_solver::ContactConstraint::ContactType

This enum list the possible types of ContactConstr, see Tasks documentation for mathematical details on each of them

Enumerator
Acceleration	Acceleration constraint
Velocity	Velocity constraint
Position	Position constraint

Constructor & Destructor Documentation

ContactConstraint()

mc_solver::ContactConstraint::ContactConstraint	(	double	timeStep,
		ContactType	contactType = Velocity
	)

Constructor

Parameters

timeStep	Solver timestep
contactType	Enable different geometric constraint

Member Function Documentation

addToSolverImpl()

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

overridevirtual

Implementation of mc_solver::ConstraintSet::addToSolver

Implements mc_solver::ConstraintSet.

contactConstr()

tasks::qp::ContactConstr* mc_solver::ContactConstraint::contactConstr

(

)

Returns the underlying constraint in the Tasks backend

Exceptions

If	the backend is not Tasks backend

removeFromSolverImpl()

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

overridevirtual

Implementation of mc_solver::ConstraintSet::removeFromSolver

Implements mc_solver::ConstraintSet.

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

• include/mc_solver/ContactConstraint.h