ORCA: Optimization-based framework for Robotic Control Applications
include
orca
constraint
ContactExistenceConditionConstraint.h
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//| This file is a part of the ORCA framework.
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//|
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//| Copyright 2018, Fuzzy Logic Robotics
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//| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
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//|
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//| Main contributor(s): Antoine Hoarau, Ryan Lober, and
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//| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
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//|
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//| ORCA is a whole-body reactive controller framework for robotics.
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//|
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//| This software is governed by the CeCILL-C license under French law and
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//| abiding by the rules of distribution of free software. You can use,
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//| modify and/ or redistribute the software under the terms of the CeCILL-C
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//| license as circulated by CEA, CNRS and INRIA at the following URL
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//| "http://www.cecill.info".
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//|
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//| As a counterpart to the access to the source code and rights to copy,
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//| modify and redistribute granted by the license, users are provided only
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//| with a limited warranty and the software's author, the holder of the
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//| economic rights, and the successive licensors have only limited
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//| software by the user in light of its specific status of free software,
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//| that may mean that it is complicated to manipulate, and that also
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//| therefore means that it is reserved for developers and experienced
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//| professionals having in-depth computer knowledge. Users are therefore
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//| The fact that you are presently reading this means that you have had
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//| knowledge of the CeCILL-C license and that you accept its terms.
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#pragma once
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#include "
orca/constraint/EqualityConstraint.h
"
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namespace
orca
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{
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namespace
constraint
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{
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class
ContactExistenceConditionConstraint
:
public
EqualityConstraint
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{
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public
:
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ContactExistenceConditionConstraint
(
const
std::string& name);
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void
setBaseFrame
(
const
std::string& base_ref_frame);
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void
setControlFrame
(
const
std::string& control_frame);
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protected
:
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void
onActivation
();
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void
onUpdateConstraintFunction
(
double
current_time,
double
dt);
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void
onResize
();
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private
:
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math::Vector6d
frame_bias_acc_;
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Eigen::MatrixXd jacobian_;
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std::string base_ref_frame_,control_frame_;
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};
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}
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}
orca::constraint::ContactExistenceConditionConstraint::onUpdateConstraintFunction
void onUpdateConstraintFunction(double current_time, double dt)
Definition:
ContactExistenceConditionConstraint.cc:31
EqualityConstraint.h
orca::constraint::ContactExistenceConditionConstraint::onActivation
void onActivation()
Definition:
ContactExistenceConditionConstraint.cc:23
orca::constraint::ContactExistenceConditionConstraint
Definition:
ContactExistenceConditionConstraint.h:46
orca::constraint::ContactExistenceConditionConstraint::onResize
void onResize()
Definition:
ContactExistenceConditionConstraint.cc:49
orca::constraint::ContactExistenceConditionConstraint::ContactExistenceConditionConstraint
ContactExistenceConditionConstraint(const std::string &name)
Definition:
ContactExistenceConditionConstraint.cc:8
orca::math::Vector6d
Eigen::Matrix< double, 6, 1 > Vector6d
Definition:
Utils.h:65
orca::constraint::ContactExistenceConditionConstraint::setBaseFrame
void setBaseFrame(const std::string &base_ref_frame)
Definition:
ContactExistenceConditionConstraint.cc:13
orca
Definition:
CartesianAccelerationPID.h:44
orca::constraint::EqualityConstraint
Definition:
EqualityConstraint.h:47
orca::constraint::ContactExistenceConditionConstraint::setControlFrame
void setControlFrame(const std::string &control_frame)
Definition:
ContactExistenceConditionConstraint.cc:18
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