Namespaces
namespace	types

Classes
class	AccelerationSceneReducedTSID
	Acceleration-based implementation of the WBC Scene. It sets up and solves the following problem: More...

class	AccelerationSceneTSID
	Acceleration-based implementation of the WBC Scene. It sets up and solves the following problem: More...

class	CartesianPotentialFieldsController
	The PotentialFieldsController class implements a multi potential field controller in Cartesian space. More...

class	CoMAccelerationTask
	Implementation of a CoM velocity task. More...

class	CoMVelocityTask
	Implementation of a CoM velocity task. More...

class	Constraint
	Abstract class to represent a generic hard (linear) constraint for a WBC optimization problem. the constraint belongs to one of three types: equality Ax = b inequality lb <= Ax <= ub bounds lb <= x <= ub. More...

class	ContactForceTask

class	ContactsAccelerationConstraint
	Abstract class to represent a generic hard constraint for a WBC optimization problem. More...

class	ContactsFrictionPointConstraint

class	ContactsFrictionSurfaceConstraint

class	ContactsVelocityConstraint
	Abstract class to represent a generic hard constraint for a WBC optimization problem. More...

class	EffortLimitsAccelerationConstraint
	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...

class	EiquadprogSolver
	The EiquadprogSolver class is a wrapper for the qp-solver eiquadprog (see https://github.com/stack-of-tasks/eiquadprog). It solves problems of shape: More...

struct	HierarchicalQP
	Describes a hierarchy of quadratic programs. More...

class	HPIPMSolver

class	JointAccelerationTask
	Implementation of a Joint velocity task. More...

class	JointIntegrator
	The JointIntegrator class implements different numerical integrators. More...

class	JointLimitAvoidanceController

class	JointLimitsAccelerationConstraint
	Abstract class to represent a generic hard constraint for a WBC optimization problem. More...

class	JointLimitsVelocityConstraint
	Abstract class to represent a generic hard constraint for a WBC optimization problem. More...

class	JointPosPDController
	The JointPosPDController class implements a PD Controller with feed forward on the base-Joints type. The following control schemes are available: More...

class	JointVelocityTask
	Implementation of a Joint velocity task. More...

class	OsqpSolver
	The OsqpSolver solves convex quadratic programs (QPs) of the form. More...

class	PIDController
	The PIDController class implements an n-dimensional PID controller. More...

class	PIDCtrlParams

class	PlanarPotentialField
	Planar Potential field. The gradient will be constant on planes parallel to the plane defined by x0 (origin) and n (surface normal) More...

class	PluginLoader
	Helper class to load the robot model, solver and scene plugins. More...

class	PotentialField
	Base class for potential fields. More...

struct	PotentialFieldInfo

class	PotentialFieldsController
	Eigen class for potential field controllers. More...

class	ProxQPSolver
	The ProxQPSolver class is a wrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape: More...

class	QPOASESSolver
	The QPOASESSolver class is a wrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape: More...

class	QPSolver
	Base class for all QP solvers. More...

struct	QPSolverFactory

struct	QPSolverRegistry

class	QPSwiftSolver

struct	QuadraticProgram
	Describes a quadratic program of the form. More...

class	RadialPotentialField
	Radial Potential field. The computed gradient will be constant on volumnes with constant radius around the center of the potential field: More...

class	RigidbodyDynamicsConstraint
	Abstract class to represent a generic hard constraint for a WBC optimization problem. More...

class	RobotModel
	Interface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC. Conventions and usage: More...

struct	RobotModelConfig
	Robot Model configuration class, containts information like urdf file, type of robot model to be loaded, etc. More...

struct	RobotModelFactory

class	RobotModelHyrodyn

class	RobotModelPinocchio

class	RobotModelRBDL

struct	RobotModelRegistry

class	Scene
	Base class for all wbc scenes. More...

struct	SceneFactory

struct	SceneRegistry

class	SpatialAccelerationTask
	Implementation of a Cartesian acceleration task. More...

class	SpatialVelocityTask
	Implementation of a Cartesian velocity task. More...

class	Task
	Abstract class to represent a generic task for a WBC optimization problem. More...

class	TaskConfig
	Defines a task in the whole body control problem. More...

class	URDFTools

class	VelocitySceneQP
	Velocity-based implementation of the WBC Scene. It sets up and solves the following problem: More...

class	WrenchPIDController
	CartesianForcePIDController implements a PID Controller on a Wrench data type. More...

Typedefs
typedef std::shared_ptr< ContactsAccelerationConstraint >	ContactsAccelerationConstraintPtr

typedef std::shared_ptr< ContactsVelocityConstraint >	ContactsVelocityConstraintPtr

typedef std::shared_ptr< EffortLimitsAccelerationConstraint >	EffortLimitsAccelerationConstraintPtr

typedef std::shared_ptr< JointLimitsAccelerationConstraint >	JointLimitsAccelerationConstraintPtr

typedef std::shared_ptr< JointLimitsVelocityConstraint >	JointLimitsVelocityConstraintPtr

typedef std::shared_ptr< RigidbodyDynamicsConstraint >	RigidbodyDynamicsConstraintPtr

using	JointPosPDControllerPtr = std::shared_ptr<JointPosPDController>

typedef std::shared_ptr< PlanarPotentialField >	PlanarPotentialFieldPtr

typedef std::shared_ptr< PotentialField >	PotentialFieldPtr

typedef std::shared_ptr< Constraint >	ConstraintPtr

typedef std::shared_ptr< QPSolver >	QPSolverPtr

typedef std::shared_ptr< RobotModel >	RobotModelPtr

typedef std::shared_ptr< Scene >	ScenePtr

using	TaskPtr = std::shared_ptr<Task>

typedef std::shared_ptr< CoMAccelerationTask >	CoMAccelerationTaskPtr

typedef std::shared_ptr< CoMVelocityTask >	CoMVelocityTaskPtr

typedef std::shared_ptr< ContactForceTask >	ContactForceTaskPtr

using	JointAccelerationTaskPtr = std::shared_ptr<JointAccelerationTask>

typedef std::shared_ptr< JointVelocityTask >	JointVelocityTaskPtr

using	SpatialAccelerationTaskPtr = std::shared_ptr<SpatialAccelerationTask>

typedef std::shared_ptr< SpatialVelocityTask >	SpatialVelocityTaskPtr

Enumerations
enum	TaskType { unset = -1 , spatial_velocity , spatial_acceleration , com_velocity , com_acceleration , joint_velocity , joint_acceleration , contact_force }

Functions
template<typename T>
QPSolver *	createT ()

template<typename T>
RobotModel *	createT ()

template<typename T, typename RobotModelPtr, typename QPSolverPtr>
Scene *	createT (RobotModelPtr robot_model, QPSolverPtr solver, const double dt)

void	printRbs (types::RigidBodyState rbs)

types::JointState	makeRandomJointState (uint n)

types::RigidBodyState	makeRandomFloatingBaseState ()

void	testFK (RobotModelPtr robot_model, const string &tip_frame, bool verbose)

void	testSpaceJacobian (RobotModelPtr robot_model, const string &tip_frame, bool verbose)

void	testBodyJacobian (RobotModelPtr robot_model, const string &tip_frame, bool verbose)

void	testCoMJacobian (RobotModelPtr robot_model, bool verbose)

void	testInverseDynamics (RobotModelPtr robot_model, bool verbose)

void	testFK (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false)

void	testSpaceJacobian (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false)

void	testBodyJacobian (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false)

void	testDynamics (RobotModelPtr robot_model, bool verbose)

Typedef Documentation

◆ CoMAccelerationTaskPtr

typedef std::shared_ptr<CoMAccelerationTask> wbc::CoMAccelerationTaskPtr

◆ CoMVelocityTaskPtr

typedef std::shared_ptr<CoMVelocityTask> wbc::CoMVelocityTaskPtr

◆ ConstraintPtr

typedef std::shared_ptr<Constraint> wbc::ConstraintPtr

◆ ContactForceTaskPtr

typedef std::shared_ptr<ContactForceTask> wbc::ContactForceTaskPtr

◆ ContactsAccelerationConstraintPtr

typedef std::shared_ptr<ContactsAccelerationConstraint> wbc::ContactsAccelerationConstraintPtr

◆ ContactsVelocityConstraintPtr

typedef std::shared_ptr<ContactsVelocityConstraint> wbc::ContactsVelocityConstraintPtr

◆ EffortLimitsAccelerationConstraintPtr

typedef std::shared_ptr<EffortLimitsAccelerationConstraint> wbc::EffortLimitsAccelerationConstraintPtr

◆ JointAccelerationTaskPtr

using wbc::JointAccelerationTaskPtr = std::shared_ptr<JointAccelerationTask>

◆ JointLimitsAccelerationConstraintPtr

typedef std::shared_ptr<JointLimitsAccelerationConstraint> wbc::JointLimitsAccelerationConstraintPtr

◆ JointLimitsVelocityConstraintPtr

typedef std::shared_ptr<JointLimitsVelocityConstraint> wbc::JointLimitsVelocityConstraintPtr

◆ JointPosPDControllerPtr

using wbc::JointPosPDControllerPtr = std::shared_ptr<JointPosPDController>

◆ JointVelocityTaskPtr

typedef std::shared_ptr<JointVelocityTask> wbc::JointVelocityTaskPtr

◆ PlanarPotentialFieldPtr

typedef std::shared_ptr<PlanarPotentialField> wbc::PlanarPotentialFieldPtr

◆ PotentialFieldPtr

typedef std::shared_ptr<PotentialField> wbc::PotentialFieldPtr

◆ QPSolverPtr

typedef std::shared_ptr<QPSolver> wbc::QPSolverPtr

◆ RigidbodyDynamicsConstraintPtr

typedef std::shared_ptr<RigidbodyDynamicsConstraint> wbc::RigidbodyDynamicsConstraintPtr

◆ RobotModelPtr

typedef std::shared_ptr<RobotModel> wbc::RobotModelPtr

◆ ScenePtr

typedef std::shared_ptr<Scene> wbc::ScenePtr

◆ SpatialAccelerationTaskPtr

using wbc::SpatialAccelerationTaskPtr = std::shared_ptr<SpatialAccelerationTask>

◆ SpatialVelocityTaskPtr

typedef std::shared_ptr<SpatialVelocityTask> wbc::SpatialVelocityTaskPtr

◆ TaskPtr

using wbc::TaskPtr = std::shared_ptr<Task>

Enumeration Type Documentation

◆ TaskType

enum wbc::TaskType

Enumerator
unset
spatial_velocity
spatial_acceleration
com_velocity
com_acceleration
joint_velocity
joint_acceleration
contact_force

Function Documentation

◆ createT() [1/3]

template<typename T>

QPSolver * wbc::createT ( )

◆ createT() [2/3]

template<typename T>

RobotModel * wbc::createT ( )

◆ createT() [3/3]

template<typename T, typename RobotModelPtr, typename QPSolverPtr>

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

◆ makeRandomFloatingBaseState()

types::RigidBodyState wbc::makeRandomFloatingBaseState ( )

◆ makeRandomJointState()

types::JointState wbc::makeRandomJointState ( uint n )

◆ printRbs()

void wbc::printRbs ( types::RigidBodyState rbs )

◆ testBodyJacobian() [1/2]

void wbc::testBodyJacobian	(	RobotModelPtr	robot_model,
		const std::string &	tip_frame,
		bool	verbose = false )

◆ testBodyJacobian() [2/2]

void wbc::testBodyJacobian	(	RobotModelPtr	robot_model,
		const string &	tip_frame,
		bool	verbose )

◆ testCoMJacobian()

void wbc::testCoMJacobian	(	RobotModelPtr	robot_model,
		bool	verbose )

◆ testDynamics()

void wbc::testDynamics	(	RobotModelPtr	robot_model,
		bool	verbose )

◆ testFK() [1/2]

void wbc::testFK	(	RobotModelPtr	robot_model,
		const std::string &	tip_frame,
		bool	verbose = false )

◆ testFK() [2/2]

void wbc::testFK	(	RobotModelPtr	robot_model,
		const string &	tip_frame,
		bool	verbose )

◆ testInverseDynamics()

void wbc::testInverseDynamics	(	RobotModelPtr	robot_model,
		bool	verbose )

◆ testSpaceJacobian() [1/2]

void wbc::testSpaceJacobian	(	RobotModelPtr	robot_model,
		const std::string &	tip_frame,
		bool	verbose = false )

◆ testSpaceJacobian() [2/2]

void wbc::testSpaceJacobian	(	RobotModelPtr	robot_model,
		const string &	tip_frame,
		bool	verbose )

Namespaces

Classes

Typedefs

Enumerations

Functions