mc_solver::utils::InequalityConstraint< UpdateT > Class Template Reference

#include <mc_solver/InequalityConstraint.h>

Inheritance diagram for mc_solver::utils::InequalityConstraint< UpdateT >:

Collaboration diagram for mc_solver::utils::InequalityConstraint< UpdateT >:

Public Types
using	Base = Constraint< tasks::qp::Inequality, UpdateT >

Public Member Functions
template<typename U = UpdateT, typename = typename std::enable_if<std::is_same<U, utils::UpdateRobot>::value>::type>
	InequalityConstraint (unsigned int rIndex)
template<typename U = UpdateT, typename = typename std::enable_if<std::is_same<U, utils::UpdateLambda>::value>::type>
	InequalityConstraint (const tasks::qp::ContactId &cid)
template<typename U = UpdateT, typename = typename std::enable_if<std::is_same<U, utils::UpdateForce>::value>::type>
	InequalityConstraint (const mc_solver::QPSolver &solver, const tasks::qp::ContactId &cid)
const Eigen::MatrixXd &	AInEq () const override
std::string	descInEq (const std::vector< rbd::MultiBody > &, int i) override

Additional Inherited Members
Protected Member Functions inherited from mc_solver::utils::Constraint< tasks::qp::Inequality, UpdateT >
	Constraint (unsigned int rIndex)
	Constraint (const tasks::qp::ContactId &cid)
	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 UpdateT>
class mc_solver::utils::InequalityConstraint< UpdateT >

Helper class to write an inequality constraint for Tasks.

This implements \( A * x \le b \)

You must implement the following functions:

• const Eigen::MatrixXd & A() const override; // Return A
• void compute() override; // Update constraint matrix and bounds
• int maxInEq() const override; // Number of equality lines
• std::string nameInEq() const override; // Desriptive name of the constraint
• const Eigen::VectorXd & bInEq() const override; // Return the bound b

Depending on what the constraint apply to you have to make sure A has the following size:

• (nrLines, alphaD.size()) for a constraint on a robot's state
• (nrLines, nrLambda) for a constraint on the lambdas of a contact
• (nrLines, 6) for a constraint on a wrench

Member Typedef Documentation

Base

template<typename UpdateT >

using mc_solver::utils::InequalityConstraint< UpdateT >::Base = Constraint<tasks::qp::Inequality, UpdateT>

Constructor & Destructor Documentation

InequalityConstraint() [1/3]

template<typename UpdateT >

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

mc_solver::utils::InequalityConstraint< UpdateT >::InequalityConstraint ( unsigned int  rIndex )

inlineexplicit

InequalityConstraint() [2/3]

template<typename UpdateT >

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

mc_solver::utils::InequalityConstraint< UpdateT >::InequalityConstraint ( const tasks::qp::ContactId &  cid )

inlineexplicit

InequalityConstraint() [3/3]

template<typename UpdateT >

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

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

inline

Member Function Documentation

AInEq()

template<typename UpdateT >

const Eigen::MatrixXd& mc_solver::utils::InequalityConstraint< UpdateT >::AInEq ( ) const

inlineoverride

descInEq()

template<typename UpdateT >

std::string mc_solver::utils::InequalityConstraint< UpdateT >::descInEq ( const std::vector< rbd::MultiBody > &  , int  i  )

inlineoverride

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

• include/mc_solver/InequalityConstraint.h