wbc::HierarchicalQP Struct Reference

Describes a hierarchy of quadratic programs. More...

#include <QuadraticProgram.hpp>

Public Member Functions
size_t	size () const
QuadraticProgram &	operator[] (int i)
const QuadraticProgram &	operator[] (int i) const
void	operator<< (QuadraticProgram &qp)
void	resize (const size_t &n)

Public Attributes
base::Time	time
std::vector< QuadraticProgram >	prios
base::VectorXd	Wq

Detailed Description

Describes a hierarchy of quadratic programs.

Member Function Documentation

operator<<()

void wbc::HierarchicalQP::operator<< ( QuadraticProgram & qp )

inline

operator[]() [1/2]

QuadraticProgram & wbc::HierarchicalQP::operator[] ( int i )

inline

operator[]() [2/2]

const QuadraticProgram & wbc::HierarchicalQP::operator[] ( int i ) const

inline

resize()

void wbc::HierarchicalQP::resize ( const size_t & n )

inline

size()

size_t wbc::HierarchicalQP::size ( ) const

inline

Joint weights (all joints)

Member Data Documentation

prios

std::vector<QuadraticProgram> wbc::HierarchicalQP::prios

time

base::Time wbc::HierarchicalQP::time

Wq

base::VectorXd wbc::HierarchicalQP::Wq

Hierarchical organized QPs. The first entriy is the highest priority

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The documentation for this struct was generated from the following file:

• src/core/QuadraticProgram.hpp