Effort limits constraint for reduced TSID scene since torques are not part of qp, torque limits are enforced through acceleration and external forces limits using the linear dependecy given by the dynamic model. More...

#include <EffortLimitsAccelerationConstraint.hpp>

Inheritance diagram for wbc::EffortLimitsAccelerationConstraint:

Public Member Functions
	EffortLimitsAccelerationConstraint ()
	Default constructor.

virtual	~EffortLimitsAccelerationConstraint ()=default

virtual void	update (RobotModelPtr robot_model) override
	Update constraint matrix and vectors, depending on the type. Abstract method.

Public Member Functions inherited from wbc::Constraint
virtual	~Constraint ()=default

Type	type ()
	Return the type of this constraint.

const base::MatrixXd &	A ()
	return constraint matrix A

const base::VectorXd &	b ()
	return constraint vector b

const base::VectorXd &	lb ()
	return constraint lower bound lb

const base::VectorXd &	ub ()
	return constraint upper bound ub

uint	size ()
	return size of the constraint (i.e. number of rows of the constraint matrix)

Additional Inherited Members
Public Types inherited from wbc::Constraint
enum	Type { equality = 0 , inequality = 1 , bounds = 2 }

Protected Member Functions inherited from wbc::Constraint
	Constraint ()
	Default constructor.

	Constraint (Type type)
	Constructor. Initialiye the type of this constraint.

Protected Attributes inherited from wbc::Constraint
Type	c_type

base::MatrixXd	A_mtx

base::VectorXd	b_vec

base::VectorXd	lb_vec

base::VectorXd	ub_vec

Detailed Description

Effort limits constraint for reduced TSID scene since torques are not part of qp, torque limits are enforced through acceleration and external forces limits using the linear dependecy given by the dynamic model.

Constructor & Destructor Documentation

◆ EffortLimitsAccelerationConstraint()

wbc::EffortLimitsAccelerationConstraint::EffortLimitsAccelerationConstraint ( )

inline

Default constructor.

◆ ~EffortLimitsAccelerationConstraint()

virtual wbc::EffortLimitsAccelerationConstraint::~EffortLimitsAccelerationConstraint ( )

virtualdefault

Member Function Documentation

◆ update()

void wbc::EffortLimitsAccelerationConstraint::update ( RobotModelPtr robot_model )

overridevirtual

Update constraint matrix and vectors, depending on the type. Abstract method.

NOTE! -> not considering selection matrix

Implements wbc::Constraint.

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

src/constraints/EffortLimitsAccelerationConstraint.hpp
src/constraints/EffortLimitsAccelerationConstraint.cpp