mc_solver::utils::Update< UpdateNrVars > Struct Template Reference

#include <mc_solver/utils/Update.h>

Inheritance diagram for mc_solver::utils::Update< UpdateNrVars >:

Collaboration diagram for mc_solver::utils::Update< UpdateNrVars >:

Protected Member Functions
template<typename U = UpdateNrVars, typename = typename std::enable_if<std::is_same<U, UpdateNrVarsRobot>::value>::type>
	Update (unsigned int rIndex)
template<typename U = UpdateNrVars, typename = typename std::enable_if<std::is_same<U, UpdateNrVarsLambda>::value>::type>
	Update (const tasks::qp::ContactId &cid)
virtual	~Update ()
virtual void	compute ()=0
virtual const Eigen::MatrixXd &	A () const =0
void	updateImpl (const std::vector< rbd::MultiBody > &, const std::vector< rbd::MultiBodyConfig > &, const tasks::qp::SolverData &)

Protected Attributes
Eigen::MatrixXd	AFull_

Constructor & Destructor Documentation

Update() [1/2]

template<typename UpdateNrVars >

template<typename U = UpdateNrVars, typename = typename std::enable_if<std::is_same<U, UpdateNrVarsRobot>::value>::type>

mc_solver::utils::Update< UpdateNrVars >::Update ( unsigned int  rIndex )

inlineexplicitprotected

Update() [2/2]

template<typename UpdateNrVars >

template<typename U = UpdateNrVars, typename = typename std::enable_if<std::is_same<U, UpdateNrVarsLambda>::value>::type>

mc_solver::utils::Update< UpdateNrVars >::Update ( const tasks::qp::ContactId &  cid )

inlineexplicitprotected

~Update()

template<typename UpdateNrVars >

virtual mc_solver::utils::Update< UpdateNrVars >::~Update ( )

inlineprotectedvirtual

Member Function Documentation

A()

template<typename UpdateNrVars >

virtual const Eigen::MatrixXd& mc_solver::utils::Update< UpdateNrVars >::A ( ) const

protectedpure virtual

Should be overriden to provide A in the desired operation space

compute()

template<typename UpdateNrVars >

virtual void mc_solver::utils::Update< UpdateNrVars >::compute ( )

protectedpure virtual

Should be overriden to update the constraint matrix and vector(s)

updateImpl()

template<typename UpdateNrVars >

void mc_solver::utils::Update< UpdateNrVars >::updateImpl ( const std::vector< rbd::MultiBody > &  , const std::vector< rbd::MultiBodyConfig > &  , const tasks::qp::SolverData &    )

inlineprotected

Member Data Documentation

AFull_

template<typename UpdateNrVars >

Eigen::MatrixXd mc_solver::utils::Update< UpdateNrVars >::AFull_

protected

Holds the full size matrix

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

• include/mc_solver/utils/Update.h