#include <mc_solver/CoMIncPlaneConstr.h>

Inheritance diagram for mc_solver::CoMIncPlaneConstr:

Collaboration diagram for mc_solver::CoMIncPlaneConstr:

Public Member Functions
	CoMIncPlaneConstr (const mc_rbdyn::Robots &robots, unsigned int robotIndex, double dt)

void	addToSolverImpl (QPSolver &solver) override

void	removeFromSolverImpl (QPSolver &solver) override

void	setActiveJoints (const std::vector< std::string > &joints)

void	setInactiveJoints (const std::vector< std::string > &joints)

void	resetActiveJoints ()

MC_RTC_DEPRECATED void	set_planes (QPSolver &solver, const std::vector< mc_rbdyn::Plane > &planes, const std::vector< Eigen::Vector3d > &speeds={}, const std::vector< Eigen::Vector3d > &normalsDots={}, double iDist=0.05, double sDist=0.01, double damping=0.1, double dampingOff=0.)

void	setPlanes (QPSolver &solver, const std::vector< mc_rbdyn::Plane > &planes, const std::vector< Eigen::Vector3d > &speeds={}, const std::vector< Eigen::Vector3d > &normalsDots={}, double iDist=0.05, double sDist=0.01, double damping=0.1, double dampingOff=0.)

Public Member Functions inherited from mc_solver::ConstraintSet
	ConstraintSet ()

void	addToSolver (mc_solver::QPSolver &solver)

virtual void	update (QPSolver &)
	Update the constraint. More...

void	removeFromSolver (mc_solver::QPSolver &solver)

virtual	~ConstraintSet ()

bool	inSolver () const noexcept

QPSolver::Backend	backend () const noexcept

Additional Inherited Members
Protected Attributes inherited from mc_solver::ConstraintSet
QPSolver::Backend	backend_

bool	inSolver_ = false

Detailed Description

For every plane provided to this constraint, this ensures that the robot's CoM remains on the positive side of this plane.

Constructor & Destructor Documentation

◆ CoMIncPlaneConstr()

mc_solver::CoMIncPlaneConstr::CoMIncPlaneConstr	(	const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		double	dt
	)

Member Function Documentation

◆ addToSolverImpl()

void mc_solver::CoMIncPlaneConstr::addToSolverImpl ( QPSolver & solver )

overridevirtual

Should take care of the actual insertion into a concrete solver

Implements mc_solver::ConstraintSet.

◆ removeFromSolverImpl()

void mc_solver::CoMIncPlaneConstr::removeFromSolverImpl ( QPSolver & solver )

overridevirtual

Should take care of the actual removal from a concrete solver

Implements mc_solver::ConstraintSet.

◆ resetActiveJoints()

void mc_solver::CoMIncPlaneConstr::resetActiveJoints ( )

Enable all joints for the constraint

◆ set_planes()

MC_RTC_DEPRECATED void mc_solver::CoMIncPlaneConstr::set_planes	(	QPSolver &	solver,
		const std::vector< mc_rbdyn::Plane > &	planes,
		const std::vector< Eigen::Vector3d > &	speeds = `{}`,
		const std::vector< Eigen::Vector3d > &	normalsDots = `{}`,
		double	iDist = `0.05`,
		double	sDist = `0.01`,
		double	damping = `0.1`,
		double	dampingOff = `0.`
	)

inline

◆ setActiveJoints()

void mc_solver::CoMIncPlaneConstr::setActiveJoints ( const std::vector< std::string > & joints )

Set joints that participate in the constraint

◆ setInactiveJoints()

void mc_solver::CoMIncPlaneConstr::setInactiveJoints ( const std::vector< std::string > & joints )

Set joints that do not participate in the constraint

◆ setPlanes()

void mc_solver::CoMIncPlaneConstr::setPlanes	(	QPSolver &	solver,
		const std::vector< mc_rbdyn::Plane > &	planes,
		const std::vector< Eigen::Vector3d > &	speeds = `{}`,
		const std::vector< Eigen::Vector3d > &	normalsDots = `{}`,
		double	iDist = `0.05`,
		double	sDist = `0.01`,
		double	damping = `0.1`,
		double	dampingOff = `0.`
	)

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

include/mc_solver/CoMIncPlaneConstr.h

Public Member Functions

Additional Inherited Members