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ORCA: Optimization-based framework for Robotic Control Applications
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#include <Problem.h>
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< QPSolver > | qpSolver () |
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::RobotModel > | robot_ |
QPSolver::Ptr | qpsolver_ = std::make_shared<QPSolver>() |
ProblemData | data_ |
unsigned int | number_of_variables_ = 0 |
unsigned int | number_of_constraints_rows_ = 0 |
using orca::optim::Problem::Ptr = std::shared_ptr<Problem> |
Problem::Problem | ( | ) |
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virtual |
bool Problem::addConstraint | ( | std::shared_ptr< constraint::GenericConstraint > | cstr | ) |
bool Problem::addTask | ( | std::shared_ptr< task::GenericTask > | task | ) |
void Problem::build | ( | ) |
bool Problem::constraintExists | ( | std::shared_ptr< constraint::GenericConstraint > | cstr | ) |
const std::list< std::shared_ptr< GenericConstraint > > & Problem::getConstraints | ( | ) | const |
unsigned int Problem::getIndex | ( | ControlVariable | var | ) | const |
const std::map< ControlVariable, unsigned int > & Problem::getIndexMap | ( | ) | const |
ReturnCode Problem::getReturnCode | ( | ) | const |
unsigned int Problem::getSize | ( | ControlVariable | var | ) | const |
const std::map< ControlVariable, unsigned int > & Problem::getSizeMap | ( | ) | const |
Eigen::VectorXd Problem::getSolution | ( | ControlVariable | var | ) | const |
const Eigen::VectorXd & Problem::getSolution | ( | ) | const |
const std::list< std::shared_ptr< GenericTask > > & Problem::getTasks | ( | ) | const |
unsigned int Problem::getTotalSize | ( | ) | const |
const std::list< std::shared_ptr< const Wrench > > & Problem::getWrenches | ( | ) | const |
void Problem::print | ( | ) | const |
std::shared_ptr< QPSolver > Problem::qpSolver | ( | ) |
bool Problem::setImplementationType | ( | QPSolverImplType | solver_type | ) |
bool Problem::setRobotModel | ( | std::shared_ptr< robot::RobotModel > | robot | ) |
bool Problem::solve | ( | ) |
bool Problem::taskExists | ( | std::shared_ptr< task::GenericTask > | task | ) |
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