mc_solver::CompoundJointConstraint Struct Reference

#include <mc_solver/CompoundJointConstraint.h>

Inheritance diagram for mc_solver::CompoundJointConstraint:

Collaboration diagram for mc_solver::CompoundJointConstraint:

Public Member Functions
	CompoundJointConstraint (const mc_rbdyn::Robots &robots, unsigned int robotIndex, double dt)
	CompoundJointConstraint (const mc_rbdyn::Robots &robot, unsigned int robotIndex, double dt, const CompoundJointConstraintDescriptionVector &cs)
void	addToSolverImpl (QPSolver &solver) override
void	removeFromSolverImpl (QPSolver &solver) override
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

Adds a compound joint constraint for a given robot

Constructor & Destructor Documentation

CompoundJointConstraint() [1/2]

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

CompoundJointConstraint() [2/2]

mc_solver::CompoundJointConstraint::CompoundJointConstraint	(	const mc_rbdyn::Robots &	robot,
		unsigned int	robotIndex,
		double	dt,
		const CompoundJointConstraintDescriptionVector &	cs
	)

Member Function Documentation

addToSolverImpl()

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

overridevirtual

Should take care of the actual insertion into a concrete solver

Implements mc_solver::ConstraintSet.

removeFromSolverImpl()

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

overridevirtual

Should take care of the actual removal from a concrete solver

Implements mc_solver::ConstraintSet.

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

• include/mc_solver/CompoundJointConstraint.h