Loading...
Searching...
No Matches
hpp::constraints::QPStaticStability Class Reference
#include <hpp/constraints/qp-static-stability.hh>
Inheritance diagram for hpp::constraints::QPStaticStability:
Collaboration diagram for hpp::constraints::QPStaticStability:
Public Types | |
| typedef StaticStability::Contact_t | Contact_t |
| typedef StaticStability::Contacts_t | Contacts_t |
| typedef ConvexShapeContact::ForceData | ForceData |
Public Member Functions | |
| QPStaticStability (const std::string &name, const DevicePtr_t &robot, const Contacts_t &contacts, const CenterOfMassComputationPtr_t &com) | |
| QPStaticStability (const std::string &name, const DevicePtr_t &robot, const std::vector< ForceData > &contacts, const CenterOfMassComputationPtr_t &com) | |
| MatrixOfExpressions & | phi () |
| Public Member Functions inherited from hpp::constraints::DifferentiableFunction | |
| virtual | ~DifferentiableFunction () |
| LiegroupElement | operator() (vectorIn_t argument) const |
| void | value (LiegroupElementRef result, vectorIn_t argument) const |
| void | jacobian (matrixOut_t jacobian, vectorIn_t argument) const |
| const ArrayXb & | activeParameters () const |
| const ArrayXb & | activeDerivativeParameters () const |
| size_type | inputSize () const |
| Get dimension of input vector. | |
| size_type | inputDerivativeSize () const |
| LiegroupSpacePtr_t | outputSpace () const |
| Get output space. | |
| size_type | outputSize () const |
| Get dimension of output vector. | |
| size_type | outputDerivativeSize () const |
| Get dimension of output derivative vector. | |
| const std::string & | name () const |
| Get function name. | |
| virtual std::ostream & | print (std::ostream &o) const |
| Display object in a stream. | |
| std::string | context () const |
| void | context (const std::string &c) |
| void | finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const |
| void | finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const |
| bool | operator== (DifferentiableFunction const &other) const |
| bool | operator!= (DifferentiableFunction const &b) const |
| virtual std::pair< JointConstPtr_t, JointConstPtr_t > | dependsOnRelPoseBetween (DeviceConstPtr_t) const |
Static Public Member Functions | |
| static QPStaticStabilityPtr_t | create (const std::string &name, const DevicePtr_t &robot, const Contacts_t &contacts, const CenterOfMassComputationPtr_t &com) |
| static QPStaticStabilityPtr_t | create (const std::string &name, const DevicePtr_t &robot, const std::vector< ForceData > &contacts, const CenterOfMassComputationPtr_t &com) |
| static QPStaticStabilityPtr_t | create (const DevicePtr_t &robot, const Contacts_t &contacts, const CenterOfMassComputationPtr_t &com) |
| Static Public Member Functions inherited from hpp::constraints::DifferentiableFunction | |
| static DifferentiableFunctionPtr_t | extract (DifferentiableFunctionPtr_t original, interval_t interval) |
Static Public Attributes | |
| static const Eigen::Matrix< value_type, 6, 1 > | Gravity |
Protected Member Functions | |
| bool | isEqual (const DifferentiableFunction &other) const |
| Protected Member Functions inherited from hpp::constraints::DifferentiableFunction | |
| DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string()) | |
| Concrete class constructor should call this constructor. | |
| DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string()) | |
| Concrete class constructor should call this constructor. | |
| virtual void | impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0 |
| User implementation of function evaluation. | |
| virtual void | impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0 |
| DifferentiableFunction () | |
Additional Inherited Members | |
| Protected Attributes inherited from hpp::constraints::DifferentiableFunction | |
| size_type | inputSize_ |
| Dimension of input vector. | |
| size_type | inputDerivativeSize_ |
| Dimension of input derivative. | |
| LiegroupSpacePtr_t | outputSpace_ |
| Dimension of output vector. | |
| ArrayXb | activeParameters_ |
| ArrayXb | activeDerivativeParameters_ |
Detailed Description
Quasi static equilibrium constraint defined as a QP program
This class defines a function whose value is equal to zero if and only if there exists a set of non-negative forces applied at some given contact points along some given normals that
- See also
- https://hal.archives-ouvertes.fr/tel-01516897 Chapter 2, Sections 3.1 and 3.2.
Member Typedef Documentation
◆ Contact_t
◆ Contacts_t
◆ ForceData
Constructor & Destructor Documentation
◆ QPStaticStability() [1/2]
| hpp::constraints::QPStaticStability::QPStaticStability | ( | const std::string & | name, |
| const DevicePtr_t & | robot, | ||
| const Contacts_t & | contacts, | ||
| const CenterOfMassComputationPtr_t & | com ) |
Constructor
- Parameters
name name of the constraint robot the robot the constraints is applied to, contacts set of contact points com COM of the robot
◆ QPStaticStability() [2/2]
| hpp::constraints::QPStaticStability::QPStaticStability | ( | const std::string & | name, |
| const DevicePtr_t & | robot, | ||
| const std::vector< ForceData > & | contacts, | ||
| const CenterOfMassComputationPtr_t & | com ) |
Constructor
- Parameters
robot the robot the constraints is applied to, com COM of the robot
Member Function Documentation
◆ create() [1/3]
| static |
◆ create() [2/3]
| static |
◆ create() [3/3]
| static |
◆ isEqual()
| inlineprotectedvirtual |
Reimplemented from hpp::constraints::DifferentiableFunction.
◆ phi()
| inline |
Member Data Documentation
◆ Gravity
| static |
The documentation for this class was generated from the following file:
- include/hpp/constraints/qp-static-stability.hh
