wbc::Scene Class Reference

Base class for all wbc scenes. More...

#include <Scene.hpp>

Inheritance diagram for wbc::Scene:

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.
const Eigen::VectorXd &	getSolverOutputRaw () const
	Get current solver output in raw values.
void	setHessianRegularizer (const double reg)
	setHessianRegularizer
double	getHessianRegularizer ()
	Return the current value of hessian regularizer.
const std::vector< types::Wrench > &	getContactWrenches ()
	Get estimated contact wrenches.

Protected Attributes
RobotModelPtr	robot_model
QPSolverPtr	solver
Eigen::VectorXd	solver_output
double	hessian_regularizer
std::vector< types::Wrench >	contact_wrenches

Detailed Description

Base class for all wbc scenes.

Constructor & Destructor Documentation

Scene()

wbc::Scene::Scene	(	RobotModelPtr	robot_model,
		QPSolverPtr	solver,
		const double	dt )

~Scene()

wbc::Scene::~Scene

(

)

Member Function Documentation

configure()

virtual bool wbc::Scene::configure ( const std::vector< TaskPtr > & tasks )

pure virtual

Configure the WBC scene. Create tasks and sort them by priority given the task config.

Parameters

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.

getContactWrenches()

const std::vector< types::Wrench > & wbc::Scene::getContactWrenches ( )

inline

Get estimated contact wrenches.

getHessianRegularizer()

double wbc::Scene::getHessianRegularizer ( )

inline

Return the current value of hessian regularizer.

getRobotModel()

RobotModelPtr wbc::Scene::getRobotModel ( )

inline

Return the current robot model.

getSolver()

QPSolverPtr wbc::Scene::getSolver ( )

inline

Return the current solver.

getSolverOutputRaw()

const Eigen::VectorXd & wbc::Scene::getSolverOutputRaw ( ) const

inline

Get current solver output in raw values.

setHessianRegularizer()

void wbc::Scene::setHessianRegularizer ( const double reg )

inline

setHessianRegularizer

Parameters

reg	This value is added to the diagonal of the Hessian matrix inside the QP to reduce the risk of infeasibility. Default is 1e-8

solve()

virtual const types::JointCommand & wbc::Scene::solve ( const HierarchicalQP & hqp )

pure virtual

Solve the given optimization problem.

Returns

Solver output as joint command

Implemented in wbc::AccelerationSceneReducedTSID, wbc::AccelerationSceneTSID, and wbc::VelocitySceneQP.

update()

virtual const HierarchicalQP & wbc::Scene::update ( )

pure virtual

Update the wbc scene and return the (updated) optimization problem.

Returns

Hierarchical quadratic program (solver input)

Implemented in wbc::AccelerationSceneReducedTSID, wbc::AccelerationSceneTSID, and wbc::VelocitySceneQP.

Member Data Documentation

contact_wrenches

std::vector<types::Wrench> wbc::Scene::contact_wrenches

protected

hessian_regularizer

double wbc::Scene::hessian_regularizer

protected

robot_model

RobotModelPtr wbc::Scene::robot_model

protected

solver

QPSolverPtr wbc::Scene::solver

protected

solver_output

Eigen::VectorXd wbc::Scene::solver_output

protected

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

• src/core/Scene.hpp
• src/core/Scene.cpp