mc_solver::EqualityConstraintForce Class Reference

#include <mc_solver/EqualityConstraint.h>

Inheritance diagram for mc_solver::EqualityConstraintForce:

Collaboration diagram for mc_solver::EqualityConstraintForce:

Public Member Functions
	EqualityConstraintForce (const mc_solver::QPSolver &solver, const tasks::qp::ContactId &cid)
Public Member Functions inherited from mc_solver::utils::EqualityConstraint< utils::UpdateForce >
	EqualityConstraint (unsigned int rIndex)
	EqualityConstraint (const tasks::qp::ContactId &cid)
	EqualityConstraint (const mc_solver::QPSolver &solver, const tasks::qp::ContactId &cid)
const Eigen::MatrixXd &	AEq () const override
std::string	descEq (const std::vector< rbd::MultiBody > &, int i) override

Additional Inherited Members
Public Types inherited from mc_solver::utils::EqualityConstraint< utils::UpdateForce >
using	Base = Constraint< tasks::qp::Equality, utils::UpdateForce >
Protected Member Functions inherited from mc_solver::utils::Constraint< tasks::qp::Equality, utils::UpdateForce >
	Constraint (unsigned int rIndex)
	Constraint (const tasks::qp::ContactId &cid)
	Constraint (const mc_solver::QPSolver &solver, const tasks::qp::ContactId &cid)
virtual	~Constraint ()
void	updateNrVars (const std::vector< rbd::MultiBody > &mbs, const tasks::qp::SolverData &data) override
void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const tasks::qp::SolverData &data) override
Protected Member Functions inherited from mc_solver::utils::UpdateForce
	UpdateForce (const mc_solver::QPSolver &solver, const tasks::qp::ContactId &cid)
void	updateImpl (const std::vector< rbd::MultiBody > &, const std::vector< rbd::MultiBodyConfig > &, const tasks::qp::SolverData &)
Protected Member Functions inherited from mc_solver::utils::Update< UpdateNrVarsLambda >
	Update (unsigned int rIndex)
	Update (const tasks::qp::ContactId &cid)
virtual	~Update ()
virtual void	compute ()=0
virtual const Eigen::MatrixXd &	A () const=0
void	updateImpl (const std::vector< rbd::MultiBody > &, const std::vector< rbd::MultiBodyConfig > &, const tasks::qp::SolverData &)
Protected Member Functions inherited from mc_solver::utils::UpdateNrVarsLambda
	UpdateNrVarsLambda (const tasks::qp::ContactId &cid)
void	updateNrVarsImpl (const std::vector< rbd::MultiBody > &mbs, const tasks::qp::SolverData &data)
Protected Attributes inherited from mc_solver::utils::Update< UpdateNrVarsLambda >
Eigen::MatrixXd	AFull_
Protected Attributes inherited from mc_solver::utils::UpdateNrVarsLambda
tasks::qp::ContactId	cid_
Protected Attributes inherited from mc_solver::utils::UpdateNrVarsData
int	nrVars_
int	ABegin_

Detailed Description

Helper class to write an equality constraint for Tasks. This constraint applies to the wrench associated with a given contact.

The wrench \( \mathbf{f}_{cI} \) is expressed in the first robot (cid.r1Index) contact surface frame.

This implements \( A * \mathbf{f}_{cI} = b \)

Where \(cI\) is the contact id you provide at construction.

You must implement the following functions:

• const Eigen::MatrixXd & A() const override; returns \(A\), must be of size (nrLines, 6)
• void compute() override; update constraint matrix and bounds
• int maxEq() const override; number of equality lines
• std::string nameEq() const override; descriptive name of the constraint
• const Eigen::VectorXd & bEq() const override; returns \(b\)

Constructor & Destructor Documentation

EqualityConstraintForce()

mc_solver::EqualityConstraintForce::EqualityConstraintForce ( const mc_solver::QPSolver &  solver, const tasks::qp::ContactId &  cid  )

inline

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

• include/mc_solver/EqualityConstraint.h