#include <mc_solver/QPSolver.h>

Inheritance diagram for mc_solver::QPSolver:

Collaboration diagram for mc_solver::QPSolver:

Classes
struct	ControllerToken

Public Types
enum	Backend { Backend::Unset, Backend::Tasks, Backend::TVM }

Public Member Functions
	QPSolver (mc_rbdyn::RobotsPtr robots, double timeStep, Backend backend)

	QPSolver (double timeStep, Backend backend)

virtual	~QPSolver ()=default

Backend	backend () const noexcept

void	addConstraintSet (ConstraintSet &cs)

template<typename T >
void	addConstraintSet (const std::unique_ptr< T > &ptr)

void	removeConstraintSet (ConstraintSet &cs)

template<typename T >
void	removeConstraintSet (const std::unique_ptr< T > &ptr)

void	addTask (mc_tasks::MetaTask *task)

void	addTask (std::shared_ptr< mc_tasks::MetaTask > task)

void	removeTask (mc_tasks::MetaTask *task)

void	removeTask (std::shared_ptr< mc_tasks::MetaTask > task)

void	setContacts (const std::vector< mc_rbdyn::Contact > &contacts={})

virtual void	setContacts (ControllerToken, const std::vector< mc_rbdyn::Contact > &contacts)=0

const std::vector< mc_rbdyn::Contact > &	contacts () const noexcept

const std::vector< mc_solver::ConstraintSet * > &	constraints () const noexcept

const std::vector< mc_tasks::MetaTask * > &	tasks () const noexcept

virtual const sva::ForceVecd	desiredContactForce (const mc_rbdyn::Contact &id) const =0

bool	run (FeedbackType fType=FeedbackType::None)

const mc_rbdyn::Robot &	robot () const

mc_rbdyn::Robot &	robot ()

mc_rbdyn::Robot &	robot (unsigned int idx)

const mc_rbdyn::Robot &	robot (unsigned int idx) const

const mc_rbdyn::Robot &	env () const

mc_rbdyn::Robot &	env ()

const mc_rbdyn::Robots &	robots () const

mc_rbdyn::Robots &	robots ()

const mc_rbdyn::Robots &	realRobots () const

mc_rbdyn::Robots &	realRobots ()

double	dt () const

virtual double	solveTime ()=0

virtual double	solveAndBuildTime ()=0

void	logger (std::shared_ptr< mc_rtc::Logger > logger)

std::shared_ptr< mc_rtc::Logger >	logger () const

void	gui (std::shared_ptr< mc_rtc::gui::StateBuilder > gui)

std::shared_ptr< mc_rtc::gui::StateBuilder >	gui () const

void	controller (mc_control::MCController *ctl) noexcept

const mc_control::MCController *	controller () const noexcept

mc_control::MCController *	controller () noexcept

Static Public Member Functions
static Backend	context_backend ()

static void	context_backend (Backend backend)

Protected Member Functions
void	addTaskToGUI (mc_tasks::MetaTask *task)

virtual bool	run_impl (FeedbackType fType=FeedbackType::None)=0

virtual void	addDynamicsConstraint (mc_solver::DynamicsConstraint *dynamics)=0

virtual void	removeDynamicsConstraint (mc_solver::ConstraintSet *maybe_dynamics)=0

Protected Attributes
Backend	backend_

mc_rbdyn::RobotsPtr	robots_p

mc_rbdyn::RobotsPtr	realRobots_p

double	timeStep

std::vector< mc_rbdyn::Contact >	contacts_

std::vector< mc_tasks::MetaTask * >	metaTasks_

std::vector< std::shared_ptr< void > >	shPtrTasksStorage

std::vector< mc_solver::ConstraintSet * >	constraints_

std::shared_ptr< mc_rtc::Logger >	logger_ = nullptr

std::shared_ptr< mc_rtc::gui::StateBuilder >	gui_ = nullptr

mc_control::MCController *	controller_ = nullptr

Detailed Description

Abstract base class for wrapping a solver

Always ensure that the solver is up-to-date

Member Enumeration Documentation

◆ Backend

enum mc_solver::QPSolver::Backend

strong

Known backends for QPSolver implementation, tasks and constraints in mc_rtc can discriminate on this value to select the implementation

Enumerator
Unset	Unset
Tasks	Use Tasks library as a backend
TVM	Use TVM library as a backend

Constructor & Destructor Documentation

◆ QPSolver() [1/2]

mc_solver::QPSolver::QPSolver	(	mc_rbdyn::RobotsPtr	robots,
		double	timeStep,
		Backend	backend
	)

Constructor

Parameters

robots	Set of robots managed by this solver
timeStep	Timestep of the solver

Note: The real robots will be created by copying the provided robots

◆ QPSolver() [2/2]

mc_solver::QPSolver::QPSolver	(	double	timeStep,
		Backend	backend
	)

Constructor (the solver creates its own Robots instance)

Parameters

timeStep Timestep of the solver

◆ ~QPSolver()

virtual mc_solver::QPSolver::~QPSolver ( )

virtualdefault

Member Function Documentation

◆ addConstraintSet() [1/2]

template<typename T >

void mc_solver::QPSolver::addConstraintSet ( const std::unique_ptr< T > & ptr )

inline

Add a constraint set

Parameters

cs	Constraint set added to the solver

◆ addConstraintSet() [2/2]

void mc_solver::QPSolver::addConstraintSet ( ConstraintSet & cs )

Add a constraint set

Parameters

cs	Constraint set added to the solver

◆ addDynamicsConstraint()

virtual void mc_solver::QPSolver::addDynamicsConstraint ( mc_solver::DynamicsConstraint * dynamics )

protectedpure virtual

This is called when a dynamics constraint is added to the solver

◆ addTask() [1/2]

void mc_solver::QPSolver::addTask ( mc_tasks::MetaTask * task )

Add a task to the solver

Adding the same task multiple times has no effect.

Parameters

task	Pointer to an mc_tasks::MetaTask, QPSolver does not take ownership of this pointer. The MetaTask update function will be automatically called before the optimization is solved.

◆ addTask() [2/2]

void mc_solver::QPSolver::addTask ( std::shared_ptr< mc_tasks::MetaTask > task )

inline

Add a task to the solver, ownership is shared with the solver

◆ addTaskToGUI()

void mc_solver::QPSolver::addTaskToGUI ( mc_tasks::MetaTask * task )

protected

◆ backend()

Backend mc_solver::QPSolver::backend ( ) const

inlinenoexcept

Returns the backend for this solver instance

◆ constraints()

const std::vector<mc_solver::ConstraintSet *>& mc_solver::QPSolver::constraints ( ) const

inlinenoexcept

Returns the current set of constraints

◆ contacts()

const std::vector<mc_rbdyn::Contact>& mc_solver::QPSolver::contacts ( ) const

inlinenoexcept

Returns the current set of contacts

◆ context_backend() [1/2]

static Backend mc_solver::QPSolver::context_backend ( )

static

Returns the current context backend

This should be set whenever constraints or tasks are about to be created and it is known they don't use the solver object and thus cannot determine the correct backend

For example:

QPSolver implementations should set it on the thread it's created
ConstraintSetLoader and MetaTasksLoader set it before loading objects
MCGlobalController sets it before run
You might need to set it if you create tasks in a thread you created

◆ context_backend() [2/2]

static void mc_solver::QPSolver::context_backend ( Backend backend )

static

Set the current context backend

◆ controller() [1/3]

const mc_control::MCController* mc_solver::QPSolver::controller ( ) const

inlinenoexcept

Returns the controller owning this instance (if any) (const)

◆ controller() [2/3]

mc_control::MCController* mc_solver::QPSolver::controller ( )

inlinenoexcept

Returns the controller owning this instance (if any)

◆ controller() [3/3]

void mc_solver::QPSolver::controller ( mc_control::MCController * ctl )

inlinenoexcept

Set the controller that is owning this QPSolver instance

◆ desiredContactForce()

virtual const sva::ForceVecd mc_solver::QPSolver::desiredContactForce ( const mc_rbdyn::Contact & id ) const

pure virtual

Desired resultant of contact force in robot surface frame

Parameters

contact Contact for which the force is desired. This contact must be one of the active contacts in the solver.

Returns: Contact force in robot surface frame

Implemented in mc_solver::TasksQPSolver, and mc_solver::TVMQPSolver.

◆ dt()

double mc_solver::QPSolver::dt ( ) const

Returns the timestep of the solver

Returns: The timestep of the solver

◆ env() [1/2]

mc_rbdyn::Robot& mc_solver::QPSolver::env ( )

Gives access to the environment robot in the solver (see mc_rbdyn::Robots)

◆ env() [2/2]

const mc_rbdyn::Robot& mc_solver::QPSolver::env ( ) const

Gives access to the environment robot in the solver (see mc_rbdyn::Robots)

◆ gui() [1/2]

std::shared_ptr<mc_rtc::gui::StateBuilder> mc_solver::QPSolver::gui ( ) const

Access to the gui instance

◆ gui() [2/2]

void mc_solver::QPSolver::gui ( std::shared_ptr< mc_rtc::gui::StateBuilder > gui )

Set the GUI helper for this solver instance

◆ logger() [1/2]

std::shared_ptr<mc_rtc::Logger> mc_solver::QPSolver::logger ( ) const

Access to the logger instance

◆ logger() [2/2]

void mc_solver::QPSolver::logger ( std::shared_ptr< mc_rtc::Logger > logger )

Set the logger for this solver instance

◆ realRobots() [1/2]

mc_rbdyn::Robots& mc_solver::QPSolver::realRobots ( )

Gives access to the real robots used by this solver

◆ realRobots() [2/2]

const mc_rbdyn::Robots& mc_solver::QPSolver::realRobots ( ) const

Gives access to the real robots used by this solver

◆ removeConstraintSet() [1/2]

template<typename T >

void mc_solver::QPSolver::removeConstraintSet ( const std::unique_ptr< T > & ptr )

inline

Remove a constraint set

Parameters

cs	Constraint set removed from the solver

◆ removeConstraintSet() [2/2]

void mc_solver::QPSolver::removeConstraintSet ( ConstraintSet & cs )

Remove a constraint set

Parameters

cs	Constrain set removed from the solver

◆ removeDynamicsConstraint()

virtual void mc_solver::QPSolver::removeDynamicsConstraint ( mc_solver::ConstraintSet * maybe_dynamics )

protectedpure virtual

This is called anytime a constraint is removed, the passed constraint is not always a dynamics constraint

◆ removeTask() [1/2]

void mc_solver::QPSolver::removeTask ( mc_tasks::MetaTask * task )

Remove a task from the solver

Removing a task that is not in the solver has no effect.

Parameters

task	Pointer to an mc_tasks::MetaTask. The task will not be updated anymore and memory should be released by the task's owner.

◆ removeTask() [2/2]

void mc_solver::QPSolver::removeTask ( std::shared_ptr< mc_tasks::MetaTask > task )

inline

Remove a task from the solver which was shared with the solver

◆ robot() [1/4]

mc_rbdyn::Robot& mc_solver::QPSolver::robot ( )

Gives access to the main robot in the solver

◆ robot() [2/4]

const mc_rbdyn::Robot& mc_solver::QPSolver::robot ( ) const

Gives access to the main robot in the solver

◆ robot() [3/4]

mc_rbdyn::Robot& mc_solver::QPSolver::robot ( unsigned int idx )

Gives access to the robot with the given index in the solver

◆ robot() [4/4]

const mc_rbdyn::Robot& mc_solver::QPSolver::robot ( unsigned int idx ) const

Gives access to the robot with the given index in the solver

◆ robots() [1/2]

mc_rbdyn::Robots& mc_solver::QPSolver::robots ( )

Gives access to the robots controlled by this solver

◆ robots() [2/2]

const mc_rbdyn::Robots& mc_solver::QPSolver::robots ( ) const

Gives access to the robots controlled by this solver

◆ run()

bool mc_solver::QPSolver::run ( FeedbackType fType = FeedbackType::None )

Run one iteration of the QP.

If succesful, will update the robots' configurations

Parameters

fType Type of feedback used to close the loop on sensory information

Returns: True if successful, false otherwise.

◆ run_impl()

virtual bool mc_solver::QPSolver::run_impl ( FeedbackType fType = FeedbackType::None )

protectedpure virtual

Should run the control prroblem and update the control robot accordingly

◆ setContacts() [1/2]

void mc_solver::QPSolver::setContacts ( const std::vector< mc_rbdyn::Contact > & contacts = {} )

Reset all contacts in the solver and use the new set of contacts provided \item contact Set of mc_rbdyn::Contact

◆ setContacts() [2/2]

virtual void mc_solver::QPSolver::setContacts	(	ControllerToken	,
		const std::vector< mc_rbdyn::Contact > &	contacts
	)

pure virtual

Implemented in mc_solver::TasksQPSolver, and mc_solver::TVMQPSolver.

◆ solveAndBuildTime()

virtual double mc_solver::QPSolver::solveAndBuildTime ( )

pure virtual

Returns the building and solving time in ms

Implemented in mc_solver::TasksQPSolver, and mc_solver::TVMQPSolver.

◆ solveTime()

virtual double mc_solver::QPSolver::solveTime ( )

pure virtual

Returns the solving time in ms

Implemented in mc_solver::TasksQPSolver, and mc_solver::TVMQPSolver.

◆ tasks()

const std::vector<mc_tasks::MetaTask *>& mc_solver::QPSolver::tasks ( ) const

inlinenoexcept

Returns the MetaTasks currently in the solver

Member Data Documentation

◆ backend_

Backend mc_solver::QPSolver::backend_

protected

◆ constraints_

std::vector<mc_solver::ConstraintSet *> mc_solver::QPSolver::constraints_

protected

Holds ConstraintSet currently in the solver

◆ contacts_

std::vector<mc_rbdyn::Contact> mc_solver::QPSolver::contacts_

protected

Holds mc_rbdyn::Contact in the solver

◆ controller_

mc_control::MCController* mc_solver::QPSolver::controller_ = nullptr

protected

Can be nullptr if this not associated to any controller

◆ gui_

std::shared_ptr<mc_rtc::gui::StateBuilder> mc_solver::QPSolver::gui_ = nullptr

protected

Pointer to the GUI helper

◆ logger_

std::shared_ptr<mc_rtc::Logger> mc_solver::QPSolver::logger_ = nullptr

protected

Pointer to the Logger

◆ metaTasks_

std::vector<mc_tasks::MetaTask *> mc_solver::QPSolver::metaTasks_

protected

Holds MetaTask currently in the solver

◆ realRobots_p

mc_rbdyn::RobotsPtr mc_solver::QPSolver::realRobots_p

protected

◆ robots_p

mc_rbdyn::RobotsPtr mc_solver::QPSolver::robots_p

protected

◆ shPtrTasksStorage

std::vector<std::shared_ptr<void> > mc_solver::QPSolver::shPtrTasksStorage

protected

Storage for shared_pointer on tasks

◆ timeStep

double mc_solver::QPSolver::timeStep

protected

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

include/mc_solver/QPSolver.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ Backend

Constructor & Destructor Documentation

◆ QPSolver() [1/2]

◆ QPSolver() [2/2]

◆ ~QPSolver()

Member Function Documentation

◆ addConstraintSet() [1/2]

◆ addConstraintSet() [2/2]

◆ addDynamicsConstraint()

◆ addTask() [1/2]

◆ addTask() [2/2]

◆ addTaskToGUI()

◆ backend()

◆ constraints()

◆ contacts()

◆ context_backend() [1/2]

◆ context_backend() [2/2]

◆ controller() [1/3]

◆ controller() [2/3]

◆ controller() [3/3]

◆ desiredContactForce()

◆ dt()

◆ env() [1/2]

◆ env() [2/2]

◆ gui() [1/2]

◆ gui() [2/2]

◆ logger() [1/2]

◆ logger() [2/2]

◆ realRobots() [1/2]

◆ realRobots() [2/2]

◆ removeConstraintSet() [1/2]

◆ removeConstraintSet() [2/2]

◆ removeDynamicsConstraint()

◆ removeTask() [1/2]

◆ removeTask() [2/2]

◆ robot() [1/4]

◆ robot() [2/4]

◆ robot() [3/4]

◆ robot() [4/4]

◆ robots() [1/2]

◆ robots() [2/2]

◆ run()

◆ run_impl()

◆ setContacts() [1/2]

◆ setContacts() [2/2]

◆ solveAndBuildTime()

◆ solveTime()

◆ tasks()

Member Data Documentation

◆ backend_

◆ constraints_

◆ contacts_

◆ controller_

◆ gui_

◆ logger_

◆ metaTasks_

◆ realRobots_p

◆ robots_p

◆ shPtrTasksStorage

◆ timeStep