wbc
wbc::EffortLimitsAccelerationConstraint Class Reference

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:
wbc::Constraint

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 Eigen::MatrixXd & A ()
 return constraint matrix A
 
const Eigen::VectorXd & b ()
 return constraint vector b
 
const Eigen::VectorXd & lb ()
 return constraint lower bound lb
 
const Eigen::VectorXd & ub ()
 return constraint upper bound ub
 
uint size ()
 return size of the constraint (i.e. number of rows of the constraint matrix)
 

Protected Attributes

types::JointLimits joint_limits
 
- Protected Attributes inherited from wbc::Constraint
Type c_type
 
Eigen::MatrixXd A_mtx
 
Eigen::VectorXd b_vec
 
Eigen::VectorXd lb_vec
 
Eigen::VectorXd ub_vec
 

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.
 

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.

Member Data Documentation

◆ joint_limits

types::JointLimits wbc::EffortLimitsAccelerationConstraint::joint_limits
protected

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