mc_solver::utils::Constraint< ConstraintT, UpdateT > Class Template Reference

#include <mc_solver/utils/Constraint.h>

Inheritance diagram for mc_solver::utils::Constraint< ConstraintT, UpdateT >:

Collaboration diagram for mc_solver::utils::Constraint< ConstraintT, UpdateT >:

Protected Member Functions
template<typename U = UpdateT, typename = typename std::enable_if<std::is_same<U, utils::UpdateRobot>::value>::type>
	Constraint (unsigned int rIndex)
template<typename U = UpdateT, typename = typename std::enable_if<std::is_same<U, utils::UpdateLambda>::value>::type>
	Constraint (const tasks::qp::ContactId &cid)
template<typename U = UpdateT, typename = typename std::enable_if<std::is_same<U, utils::UpdateForce>::value>::type>
	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

Detailed Description

template<typename ConstraintT, typename UpdateT>
class mc_solver::utils::Constraint< ConstraintT, UpdateT >

Generic helper class to write a new constraint for Tasks.

See also

EqualityConstraint,

InequalityConstraint and

GenInequalityConstraint for details on specific constraints you can implement based on this helper

Template Parameters

ConstraintT	Type of tasks::qp constraint
UpdateT	Type of utils::Update we will use

Constructor & Destructor Documentation

Constraint() [1/3]

template<typename ConstraintT , typename UpdateT >

template<typename U = UpdateT, typename = typename std::enable_if<std::is_same<U, utils::UpdateRobot>::value>::type>

mc_solver::utils::Constraint< ConstraintT, UpdateT >::Constraint ( unsigned int  rIndex )

inlineexplicitprotected

Constraint() [2/3]

template<typename ConstraintT , typename UpdateT >

template<typename U = UpdateT, typename = typename std::enable_if<std::is_same<U, utils::UpdateLambda>::value>::type>

mc_solver::utils::Constraint< ConstraintT, UpdateT >::Constraint ( const tasks::qp::ContactId &  cid )

inlineexplicitprotected

Constraint() [3/3]

template<typename ConstraintT , typename UpdateT >

template<typename U = UpdateT, typename = typename std::enable_if<std::is_same<U, utils::UpdateForce>::value>::type>

mc_solver::utils::Constraint< ConstraintT, UpdateT >::Constraint ( const mc_solver::QPSolver &  solver, const tasks::qp::ContactId &  cid  )

inlineprotected

~Constraint()

template<typename ConstraintT , typename UpdateT >

virtual mc_solver::utils::Constraint< ConstraintT, UpdateT >::~Constraint ( )

inlineprotectedvirtual

Virtual destructor

Member Function Documentation

update()

template<typename ConstraintT , typename UpdateT >

void mc_solver::utils::Constraint< ConstraintT, UpdateT >::update ( const std::vector< rbd::MultiBody > &  mbs, const std::vector< rbd::MultiBodyConfig > &  mbcs, const tasks::qp::SolverData &  data  )

inlineoverrideprotected

updateNrVars()

template<typename ConstraintT , typename UpdateT >

void mc_solver::utils::Constraint< ConstraintT, UpdateT >::updateNrVars ( const std::vector< rbd::MultiBody > &  mbs, const tasks::qp::SolverData &  data  )

inlineoverrideprotected

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

• include/mc_solver/utils/Constraint.h