mc_solver::GenInequalityConstraintRobot Class Reference

#include <mc_solver/GenInequalityConstraint.h>

Inheritance diagram for mc_solver::GenInequalityConstraintRobot:

Collaboration diagram for mc_solver::GenInequalityConstraintRobot:

Public Member Functions
	GenInequalityConstraintRobot (unsigned int rIndex)
Public Member Functions inherited from mc_solver::utils::GenInequalityConstraint< utils::UpdateRobot >
	GenInequalityConstraint (unsigned int rIndex)
	GenInequalityConstraint (const tasks::qp::ContactId &cid)
	GenInequalityConstraint (const mc_solver::QPSolver &solver, const tasks::qp::ContactId &cid)
const Eigen::MatrixXd &	AGenInEq () const override
std::string	descGenInEq (const std::vector< rbd::MultiBody > &, int i) override

Additional Inherited Members
Public Types inherited from mc_solver::utils::GenInequalityConstraint< utils::UpdateRobot >
using	Base = Constraint< tasks::qp::GenInequality, utils::UpdateRobot >
Protected Member Functions inherited from mc_solver::utils::Constraint< ConstraintT, UpdateT >
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

Helper class to write a general inequality constraint for Tasks. This constraint applies to alphaD for a given robot.

This implements \(L \le A * \ddot{\mathbf{q}}_{rI} \le U\)

Where \(rI\) is the robot index you provide at construction.

You must implement the following functions:

• const Eigen::MatrixXd & A() const override; returns \(A\), must be of size (nrLines, alphaD.size())
• void compute() override; update constraint matrix and bounds
• int maxGenInEq() const override; number of inequality lines
• std::string nameGenInEq() const override; descriptive name of the constraint
• const Eigen::VectorXd & LowerGenInEq() const override; returns the lower bound \(L\)
• const Eigen::VectorXd & UpperGenInEq() const override; returns the upper bound \(U\)

Constructor & Destructor Documentation

GenInequalityConstraintRobot()

mc_solver::GenInequalityConstraintRobot::GenInequalityConstraintRobot ( unsigned int  rIndex )

inlineexplicit

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

• include/mc_solver/GenInequalityConstraint.h