Inheritance diagram for mc_solver::EqualityConstraintForce:

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Collaboration diagram for mc_solver::EqualityConstraintForce:

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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< ConstraintT, UpdateT >
template<typename U = UpdateT, typename = typename std::enable_if<std::is_same<U, utils::UpdateRobot>::value>::type>
	Constraint (unsigned int rIndex)

template<typename U = UpdateT, typename = typename std::enable_if<std::is_same<U, utils::UpdateLambda>::value>::type>
	Constraint (const tasks::qp::ContactId &cid)

template<typename U = UpdateT, typename = typename std::enable_if<std::is_same<U, utils::UpdateForce>::value>::type>
	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

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

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

inline

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