ORCA: Optimization-based framework for Robotic Control Applications
Public Types | Public Member Functions | Protected Attributes | List of all members
orca::optim::Problem Class Reference

#include <Problem.h>

+ Collaboration diagram for orca::optim::Problem:

Public Types

using Ptr = std::shared_ptr< Problem >
 

Public Member Functions

 Problem ()
 
virtual ~Problem ()
 
bool setRobotModel (std::shared_ptr< robot::RobotModel > robot)
 
bool setImplementationType (QPSolverImplType solver_type)
 
void build ()
 
bool solve ()
 
common::ReturnCode getReturnCode () const
 
bool addConstraint (std::shared_ptr< constraint::GenericConstraint > cstr)
 
bool constraintExists (std::shared_ptr< constraint::GenericConstraint > cstr)
 
bool addTask (std::shared_ptr< task::GenericTask > task)
 
bool taskExists (std::shared_ptr< task::GenericTask > task)
 
const std::list< std::shared_ptr< const common::Wrench > > & getWrenches () const
 
const std::list< std::shared_ptr< task::GenericTask > > & getTasks () const
 
const std::list< std::shared_ptr< constraint::GenericConstraint > > & getConstraints () const
 
unsigned int getIndex (ControlVariable var) const
 
unsigned int getSize (ControlVariable var) const
 
unsigned int getTotalSize () const
 
const std::map< ControlVariable, unsigned int > & getIndexMap () const
 
const std::map< ControlVariable, unsigned int > & getSizeMap () const
 
void print () const
 
Eigen::VectorXd getSolution (ControlVariable var) const
 
const Eigen::VectorXd & getSolution () const
 
std::shared_ptr< QPSolverqpSolver ()
 

Protected Attributes

std::list< std::shared_ptr< const common::Wrench > > wrenches_
 
std::list< std::shared_ptr< task::GenericTask > > tasks_
 
std::list< std::shared_ptr< constraint::GenericConstraint > > constraints_
 
ControlVariableMapping mapping_
 
std::shared_ptr< robot::RobotModelrobot_
 
QPSolver::Ptr qpsolver_ = std::make_shared<QPSolver>()
 
ProblemData data_
 
unsigned int number_of_variables_ = 0
 
unsigned int number_of_constraints_rows_ = 0
 

Member Typedef Documentation

◆ Ptr

using orca::optim::Problem::Ptr = std::shared_ptr<Problem>

Constructor & Destructor Documentation

◆ Problem()

Problem::Problem ( )

◆ ~Problem()

Problem::~Problem ( )
virtual

Member Function Documentation

◆ addConstraint()

bool Problem::addConstraint ( std::shared_ptr< constraint::GenericConstraint cstr)

◆ addTask()

bool Problem::addTask ( std::shared_ptr< task::GenericTask task)

◆ build()

void Problem::build ( )

◆ constraintExists()

bool Problem::constraintExists ( std::shared_ptr< constraint::GenericConstraint cstr)

◆ getConstraints()

const std::list< std::shared_ptr< GenericConstraint > > & Problem::getConstraints ( ) const

◆ getIndex()

unsigned int Problem::getIndex ( ControlVariable  var) const

◆ getIndexMap()

const std::map< ControlVariable, unsigned int > & Problem::getIndexMap ( ) const

◆ getReturnCode()

ReturnCode Problem::getReturnCode ( ) const

◆ getSize()

unsigned int Problem::getSize ( ControlVariable  var) const

◆ getSizeMap()

const std::map< ControlVariable, unsigned int > & Problem::getSizeMap ( ) const

◆ getSolution() [1/2]

Eigen::VectorXd Problem::getSolution ( ControlVariable  var) const

◆ getSolution() [2/2]

const Eigen::VectorXd & Problem::getSolution ( ) const

◆ getTasks()

const std::list< std::shared_ptr< GenericTask > > & Problem::getTasks ( ) const

◆ getTotalSize()

unsigned int Problem::getTotalSize ( ) const

◆ getWrenches()

const std::list< std::shared_ptr< const Wrench > > & Problem::getWrenches ( ) const

◆ print()

void Problem::print ( ) const

◆ qpSolver()

std::shared_ptr< QPSolver > Problem::qpSolver ( )

◆ setImplementationType()

bool Problem::setImplementationType ( QPSolverImplType  solver_type)

◆ setRobotModel()

bool Problem::setRobotModel ( std::shared_ptr< robot::RobotModel robot)

◆ solve()

bool Problem::solve ( )

◆ taskExists()

bool Problem::taskExists ( std::shared_ptr< task::GenericTask task)

Member Data Documentation

◆ constraints_

std::list< std::shared_ptr< constraint::GenericConstraint > > orca::optim::Problem::constraints_
protected

◆ data_

ProblemData orca::optim::Problem::data_
protected

◆ mapping_

ControlVariableMapping orca::optim::Problem::mapping_
protected

◆ number_of_constraints_rows_

unsigned int orca::optim::Problem::number_of_constraints_rows_ = 0
protected

◆ number_of_variables_

unsigned int orca::optim::Problem::number_of_variables_ = 0
protected

◆ qpsolver_

QPSolver::Ptr orca::optim::Problem::qpsolver_ = std::make_shared<QPSolver>()
protected

◆ robot_

std::shared_ptr<robot::RobotModel> orca::optim::Problem::robot_
protected

◆ tasks_

std::list< std::shared_ptr< task::GenericTask > > orca::optim::Problem::tasks_
protected

◆ wrenches_

std::list< std::shared_ptr< const common::Wrench > > orca::optim::Problem::wrenches_
protected

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