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 (uint dim_contact)
	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

uint	dim_contact

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 ( uint dim_contact )

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

◆ dim_contact

uint wbc::EffortLimitsAccelerationConstraint::dim_contact

protected

◆ joint_limits

types::JointLimits wbc::EffortLimitsAccelerationConstraint::joint_limits