mc_solver::EqualityConstraintLambda Class Reference

#include <mc_solver/EqualityConstraint.h>

Inheritance diagram for mc_solver::EqualityConstraintLambda:

Collaboration diagram for mc_solver::EqualityConstraintLambda:

Public Member Functions
	EqualityConstraintLambda (const tasks::qp::ContactId &cid)
Public Member Functions inherited from mc_solver::utils::EqualityConstraint< utils::UpdateLambda >
	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::UpdateLambda >
using	Base = Constraint< tasks::qp::Equality, utils::UpdateLambda >
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 vector of positive multipliers (lambda) associated with a given contact

This implements \( A * \lambda_{cI} = b \)

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, nrLambda)
• 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

EqualityConstraintLambda()

mc_solver::EqualityConstraintLambda::EqualityConstraintLambda ( const tasks::qp::ContactId &  cid )

inlineexplicit

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

• include/mc_solver/EqualityConstraint.h