Inheritance diagram for mc_solver::EqualityConstraintRobot:

Collaboration diagram for mc_solver::EqualityConstraintRobot:

Public Member Functions
	EqualityConstraintRobot (unsigned int rIndex)

Public Member Functions inherited from mc_solver::utils::EqualityConstraint< utils::UpdateRobot >
	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::UpdateRobot >
using	Base = Constraint< tasks::qp::Equality, utils::UpdateRobot >

Protected Member Functions inherited from mc_solver::utils::Constraint< tasks::qp::Equality, utils::UpdateRobot >
	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::Update< UpdateNrVars >
template<typename U = UpdateNrVars, typename = typename std::enable_if<std::is_same<U, UpdateNrVarsRobot>::value>::type>
	Update (unsigned int rIndex)

template<typename U = UpdateNrVars, typename = typename std::enable_if<std::is_same<U, UpdateNrVarsLambda>::value>::type>
	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 Attributes inherited from mc_solver::utils::Update< UpdateNrVars >
Eigen::MatrixXd	AFull_

Detailed Description

Helper class to write an equality constraint for Tasks. This constraint applies to alphaD for a given robot.

This implements \( A * \ddot{\mathbf{q}}_{rI} = b \)

Where \(rI\) is the robot index you provide at construction.

You must implement the following functions:

const Eigen::MatrixXd & A() const override; returns \(A\), must be of size (nrLines, alphaD.size())
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::EqualityConstraintRobot::EqualityConstraintRobot ( unsigned int rIndex )

inlineexplicit

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