wbc
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Base class for all wbc scenes. More...
#include <Scene.hpp>
Public Member Functions | |
Scene (RobotModelPtr robot_model, QPSolverPtr solver, const double dt) | |
~Scene () | |
virtual bool | configure (const std::vector< TaskPtr > &tasks)=0 |
Configure the WBC scene. Create tasks and sort them by priority given the task config. | |
virtual const HierarchicalQP & | update ()=0 |
Update the wbc scene and return the (updated) optimization problem. | |
virtual const types::JointCommand & | solve (const HierarchicalQP &hqp)=0 |
Solve the given optimization problem. | |
RobotModelPtr | getRobotModel () |
Return the current robot model. | |
QPSolverPtr | getSolver () |
Return the current solver. | |
Protected Attributes | |
RobotModelPtr | robot_model |
QPSolverPtr | solver |
Base class for all wbc scenes.
wbc::Scene::Scene | ( | RobotModelPtr | robot_model, |
QPSolverPtr | solver, | ||
const double | dt ) |
wbc::Scene::~Scene | ( | ) |
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pure virtual |
Configure the WBC scene. Create tasks and sort them by priority given the task config.
tasks | Tasks used in optimization function. Size has to be > 0. All tasks have to be valid. See tasks and TaskConfig.hpp for more details. |
Implemented in wbc::AccelerationSceneReducedTSID, wbc::AccelerationSceneTSID, and wbc::VelocitySceneQP.
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inline |
Return the current robot model.
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inline |
Return the current solver.
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pure virtual |
Solve the given optimization problem.
Implemented in wbc::AccelerationSceneReducedTSID, wbc::AccelerationSceneTSID, and wbc::VelocitySceneQP.
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pure virtual |
Update the wbc scene and return the (updated) optimization problem.
Implemented in wbc::AccelerationSceneReducedTSID, wbc::AccelerationSceneTSID, and wbc::VelocitySceneQP.
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protected |
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protected |