#include <mc_solver/DynamicsConstraint.h>

Inheritance diagram for mc_solver::DynamicsConstraint:

Collaboration diagram for mc_solver::DynamicsConstraint:

Public Member Functions
	DynamicsConstraint (const mc_rbdyn::Robots &robots, unsigned int robotIndex, double timeStep, bool infTorque=false)

	DynamicsConstraint (const mc_rbdyn::Robots &robots, unsigned int robotIndex, double timeStep, const std::array< double, 3 > &damper, double velocityPercent=1.0, bool infTorque=false)

tasks::qp::MotionConstr &	motionConstr () noexcept

mc_tvm::DynamicFunction &	dynamicFunction ()

void	addToSolverImpl (QPSolver &solver) override

void	removeFromSolverImpl (QPSolver &solver) override

unsigned int	robotIndex () const noexcept

Public Member Functions inherited from mc_solver::KinematicsConstraint
	KinematicsConstraint (const mc_rbdyn::Robots &robots, unsigned int robotIndex, double timeStep)

	KinematicsConstraint (const mc_rbdyn::Robots &robots, unsigned int robotIndex, double timeStep, const std::array< double, 3 > &damper, double velocityPercent=0.5)

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

Protected Attributes
mc_rtc::void_ptr	motion_constr_

unsigned int	robotIndex_

Protected Attributes inherited from mc_solver::KinematicsConstraint
mc_rtc::void_ptr	constraint_

Protected Attributes inherited from mc_solver::ConstraintSet
QPSolver::Backend	backend_

bool	inSolver_ = false

Additional Inherited Members
Protected Member Functions inherited from mc_solver::KinematicsConstraint
void	addToSolverImpl (mc_solver::QPSolver &solver) override

void	removeFromSolverImpl (mc_solver::QPSolver &solver) override

Detailed Description

Holds dynamics constraints (equation of motion) for a robot

Constructor & Destructor Documentation

◆ DynamicsConstraint() [1/2]

mc_solver::DynamicsConstraint::DynamicsConstraint	(	const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		double	timeStep,
		bool	infTorque = `false`
	)

Constructor Builds a regular joint limits constraint and a motion constr depending on the nature of the robot See tasks::qp::MotionConstr for details on the latter one

Parameters

robots	The robots including the robot affected by this constraint
robotIndex	The index of the robot affected by this constraint
timeStep	Solver timestep
infTorque	If true, ignore the torque limits set in the robot model

◆ DynamicsConstraint() [2/2]

mc_solver::DynamicsConstraint::DynamicsConstraint	(	const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		double	timeStep,
		const std::array< double, 3 > &	damper,
		double	velocityPercent = `1.0`,
		bool	infTorque = `false`
	)

Constructor Builds a damped joint limits constraint and a motion constr depending on the nature of the robot See tasks::qp::MotionConstr for details on the latter one

Parameters

robots	The robots including the robot affected by this constraint
robotIndex	The index of the robot affected by this constraint
timeStep	Solver timestep
damper	Value of the damper {interaction distance, safety distance, offset}
velocityPercent	Maximum joint velocity percentage, 0.5 is advised
infTorque	If true, ignore the torque limits set in the robot model

Member Function Documentation

◆ addToSolverImpl()

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

overridevirtual

Should take care of the actual insertion into a concrete solver

Implements mc_solver::ConstraintSet.

◆ dynamicFunction()

mc_tvm::DynamicFunction& mc_solver::DynamicsConstraint::dynamicFunction ( )

inline

Returns the mc_tvm::DynamicFunction

Assumes the backend was TVM

◆ motionConstr()

tasks::qp::MotionConstr& mc_solver::DynamicsConstraint::motionConstr ( )

inlinenoexcept

Returns the tasks::qp::MotionConstr

This assumes the backend was Tasks

◆ removeFromSolverImpl()

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

overridevirtual

Should take care of the actual removal from a concrete solver

Implements mc_solver::ConstraintSet.

◆ robotIndex()

unsigned int mc_solver::DynamicsConstraint::robotIndex ( ) const

inlinenoexcept

Member Data Documentation

◆ motion_constr_

mc_rtc::void_ptr mc_solver::DynamicsConstraint::motion_constr_

protected

Holds the motion constraint implementation

In Tasks backend:

tasks::qp::MotionConstr or a derived constraint if the robot has flexibilities

In TVM backend:

mc_tvm::DynamicFunctionPtr

◆ robotIndex_

unsigned int mc_solver::DynamicsConstraint::robotIndex_