mc_solver::TVMQPSolver Struct Reference

#include <mc_solver/TVMQPSolver.h>

Inheritance diagram for mc_solver::TVMQPSolver:

Collaboration diagram for mc_solver::TVMQPSolver:

Public Member Functions
	TVMQPSolver (mc_rbdyn::RobotsPtr robots, double timeStep)
	TVMQPSolver (double timeStep)
	~TVMQPSolver () final=default
void	setContacts (ControllerToken, const std::vector< mc_rbdyn::Contact > &contacts) final
const sva::ForceVecd	desiredContactForce (const mc_rbdyn::Contact &id) const final
double	solveTime () final
double	solveAndBuildTime () final
tvm::LinearizedControlProblem &	problem () noexcept
const tvm::LinearizedControlProblem &	problem () const noexcept
Public Member Functions inherited from mc_solver::QPSolver
	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={})
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
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
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 TVMQPSolver &	from_solver (QPSolver &solver) noexcept
static const TVMQPSolver &	from_solver (const QPSolver &solver) noexcept
Static Public Member Functions inherited from mc_solver::QPSolver
static Backend	context_backend ()
static void	context_backend (Backend backend)

Additional Inherited Members
Public Types inherited from mc_solver::QPSolver
enum class	Backend { Unset , Tasks , TVM }
Protected Member Functions inherited from mc_solver::QPSolver
void	addTaskToGUI (mc_tasks::MetaTask *task)
Protected Attributes inherited from mc_solver::QPSolver
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

This implements the QPSolver interface for the TVM backend

This solver can accepts tasks and constraints from mc_rtc

Constructor & Destructor Documentation

TVMQPSolver() [1/2]

mc_solver::TVMQPSolver::TVMQPSolver	(	mc_rbdyn::RobotsPtr	robots,
		double	timeStep
	)

TVMQPSolver() [2/2]

mc_solver::TVMQPSolver::TVMQPSolver

(

double

timeStep

)

~TVMQPSolver()

mc_solver::TVMQPSolver::~TVMQPSolver ( )

finaldefault

Member Function Documentation

desiredContactForce()

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

finalvirtual

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

Implements mc_solver::QPSolver.

from_solver() [1/2]

static const TVMQPSolver& mc_solver::TVMQPSolver::from_solver ( const QPSolver &  solver )

inlinestaticnoexcept

Helper to get a TVMQPSolver from a QPSolver instance

The caller should make sure the cast is valid by checking the QPSolver backend.

In debug the program will abort otherwise, in release UB abounds

from_solver() [2/2]

static TVMQPSolver& mc_solver::TVMQPSolver::from_solver ( QPSolver &  solver )

inlinestaticnoexcept

Helper to get a TVMQPSolver from a QPSolver instance

The caller should make sure the cast is valid by checking the QPSolver backend.

In debug the program will abort otherwise, in release UB abounds

problem() [1/2]

const tvm::LinearizedControlProblem& mc_solver::TVMQPSolver::problem ( ) const

inlinenoexcept

Access the internal problem (const)

problem() [2/2]

tvm::LinearizedControlProblem& mc_solver::TVMQPSolver::problem ( )

inlinenoexcept

Access the internal problem

setContacts()

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

finalvirtual

Implements mc_solver::QPSolver.

solveAndBuildTime()

double mc_solver::TVMQPSolver::solveAndBuildTime ( )

finalvirtual

Returns the building and solving time in ms

Implements mc_solver::QPSolver.

solveTime()

double mc_solver::TVMQPSolver::solveTime ( )

finalvirtual

Returns the solving time in ms

Implements mc_solver::QPSolver.

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

• include/mc_solver/TVMQPSolver.h