mc_solver::details::CompoundJointConstraint Struct Reference

#include <mc_solver/CompoundJointConstraint.h>

Inheritance diagram for mc_solver::details::CompoundJointConstraint:

Collaboration diagram for mc_solver::details::CompoundJointConstraint:

Public Member Functions
MC_SOLVER_DLLAPI	CompoundJointConstraint (const mc_rbdyn::Robots &robots, unsigned int rIndex, double dt)
MC_SOLVER_DLLAPI	CompoundJointConstraint (const mc_rbdyn::Robots &robots, unsigned int rIndex, double dt, const CompoundJointConstraintDescriptionVector &desc)
MC_SOLVER_DLLAPI	~CompoundJointConstraint () override
MC_SOLVER_DLLAPI void	addConstraint (const mc_rbdyn::Robots &robots, unsigned int rIndex, const CompoundJointConstraintDescription &desc)
MC_SOLVER_DLLAPI void	updateNrVars (const std::vector< rbd::MultiBody > &mbs, const tasks::qp::SolverData &data) override
MC_SOLVER_DLLAPI void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const tasks::qp::SolverData &data) override
const Eigen::MatrixXd &	AInEq () const override
int	maxInEq () const override
std::string	nameInEq () const override
const Eigen::VectorXd &	bInEq () const override
std::string	descInEq (const std::vector< rbd::MultiBody > &mbs, int i) override

Detailed Description

Implement compound joint constraints

This constraint is given a set of CompoundJointConstraint for a given robot and will enforce them

Constructor & Destructor Documentation

CompoundJointConstraint() [1/2]

MC_SOLVER_DLLAPI mc_solver::details::CompoundJointConstraint::CompoundJointConstraint	(	const mc_rbdyn::Robots &	robots,
		unsigned int	rIndex,
		double	dt
	)

CompoundJointConstraint() [2/2]

MC_SOLVER_DLLAPI mc_solver::details::CompoundJointConstraint::CompoundJointConstraint	(	const mc_rbdyn::Robots &	robots,
		unsigned int	rIndex,
		double	dt,
		const CompoundJointConstraintDescriptionVector &	desc
	)

~CompoundJointConstraint()

MC_SOLVER_DLLAPI mc_solver::details::CompoundJointConstraint::~CompoundJointConstraint ( )

override

Member Function Documentation

addConstraint()

MC_SOLVER_DLLAPI void mc_solver::details::CompoundJointConstraint::addConstraint	(	const mc_rbdyn::Robots &	robots,
		unsigned int	rIndex,
		const CompoundJointConstraintDescription &	desc
	)

AInEq()

const Eigen::MatrixXd& mc_solver::details::CompoundJointConstraint::AInEq ( ) const

inlineoverride

bInEq()

const Eigen::VectorXd& mc_solver::details::CompoundJointConstraint::bInEq ( ) const

inlineoverride

descInEq()

std::string mc_solver::details::CompoundJointConstraint::descInEq ( const std::vector< rbd::MultiBody > &  mbs, int  i  )

override

maxInEq()

int mc_solver::details::CompoundJointConstraint::maxInEq ( ) const

inlineoverride

nameInEq()

std::string mc_solver::details::CompoundJointConstraint::nameInEq ( ) const

inlineoverride

update()

MC_SOLVER_DLLAPI void mc_solver::details::CompoundJointConstraint::update ( const std::vector< rbd::MultiBody > &  mbs, const std::vector< rbd::MultiBodyConfig > &  mbcs, const tasks::qp::SolverData &  data  )

override

updateNrVars()

MC_SOLVER_DLLAPI void mc_solver::details::CompoundJointConstraint::updateNrVars ( const std::vector< rbd::MultiBody > &  mbs, const tasks::qp::SolverData &  data  )

override

---

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

• include/mc_solver/CompoundJointConstraint.h