#include <mc_solver/KinematicsConstraint.h>

Inheritance diagram for mc_solver::KinematicsConstraint:

Collaboration diagram for mc_solver::KinematicsConstraint:

Public Member Functions
	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 Member Functions
void	addToSolverImpl (mc_solver::QPSolver &solver) override

void	removeFromSolverImpl (mc_solver::QPSolver &solver) override

Protected Attributes
mc_rtc::void_ptr	constraint_

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

bool	inSolver_ = false

Detailed Description

Holds kinematic constraints (joint limits) for the robot

Constructor & Destructor Documentation

◆ KinematicsConstraint() [1/2]

mc_solver::KinematicsConstraint::KinematicsConstraint	(	const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		double	timeStep
	)

Regular constraint constructor Builds a regular joint limits constraint, prefer a damped joint limits constraint in general See tasks::qp::JointLimitsConstr for detail

Parameters

robots	The robots including the robot affected by this constraint
robotIndex	The index of the robot affected by this constraint
timeStep	Solver timestep

◆ KinematicsConstraint() [2/2]

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

Damped constraint constructor Builds a damped joint limits constraint See tasks::qp::DamperJointLimitsConstr documentation for detail

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

Member Function Documentation

◆ addToSolverImpl()

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

overrideprotectedvirtual

Implementation of mc_solver::ConstraintSet::addToSolver

Implements mc_solver::ConstraintSet.

◆ removeFromSolverImpl()

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

overrideprotectedvirtual

Implementation of mc_solver::ConstraintSet::removeFromSolver

Implements mc_solver::ConstraintSet.

Member Data Documentation

◆ constraint_

mc_rtc::void_ptr mc_solver::KinematicsConstraint::constraint_

protected

Holds the constraint implementation

In Tasks backend:

tasks::qp::JointLimitsConstr for non-damped constraint
tasks::qp::DampedJointLimitsConstr for damped-constraint

In TVM backend:

internal implementation

The deleter carries the initial type of the constraint

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

include/mc_solver/KinematicsConstraint.h

Public Member Functions

Protected Member Functions

Protected Attributes