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| Controller (const std::string &name) |
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| Controller (const std::string &name, std::shared_ptr< robot::RobotModel > robot, ResolutionStrategy resolution_strategy, QPSolverImplType solver_type) |
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void | print () const |
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void | setPrintLevel (int level) |
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std::shared_ptr< robot::RobotModel > | robot () |
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void | setRobotModel (std::shared_ptr< robot::RobotModel > robot) |
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bool | update (double current_time, double dt) |
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common::ReturnCode | getReturnCode () const |
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bool | addTask (std::shared_ptr< task::GenericTask > task) |
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bool | addTaskFromString (const std::string &task_description) |
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bool | addConstraintFromString (const std::string &task_description) |
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template<class T > |
std::shared_ptr< T > | addTask (const std::string &name) |
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std::shared_ptr< task::GenericTask > | getTask (const std::string &name, int level=0) |
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std::shared_ptr< task::GenericTask > | getTask (unsigned int index, int level=0) |
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bool | addConstraint (std::shared_ptr< constraint::GenericConstraint > cstr) |
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template<class C > |
std::shared_ptr< C > | addConstraint (const std::string &name) |
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bool | solutionFound () const |
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const Eigen::VectorXd & | getSolution () |
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const Eigen::VectorXd & | getJointTorqueCommand (bool remove_gravity_torques=false, bool remove_coriolis_torques=false) |
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const Eigen::VectorXd & | computeKKTTorques () |
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const Eigen::VectorXd & | getJointAccelerationCommand () |
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void | activateTasksAndConstraints () |
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void | activateTasks () |
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void | activateConstraints () |
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void | deactivateTasksAndConstraints () |
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void | deactivateTasks () |
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void | deactivateConstraints () |
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bool | tasksAndConstraintsDeactivated () |
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std::shared_ptr< task::RegularisationTask< ControlVariable::X > > | globalRegularization (int level=0) |
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void | setUpdateCallback (std::function< void(double, double)> update_cb) |
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void | removeGravityTorquesFromSolution (bool do_remove) |
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void | removeCoriolisTorquesFromSolution (bool do_remove) |
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ResolutionStrategy | getResolutionStrategy () const |
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| ConfigurableOrcaObject (const std::string &config_name) |
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virtual | ~ConfigurableOrcaObject () |
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template<class T > |
void | addParameter (const std::string ¶m_name, Parameter< T > *param, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0) |
| Returns true if all params added with have been set. More...
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template<class T > |
void | addParameter (const std::string ¶m_name, T ¶m, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0) |
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ParameterBase * | getParameter (const std::string ¶m_name) |
| Returns a param via its name. More...
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void | printParameters () const |
| Print all parameters to std::cout. More...
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bool | configureFromFile (const std::string &yaml_url) |
| Configure the task from YAML/JSON file. It must contain all the required parameters. More...
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bool | configureFromString (const std::string &yaml_str) |
| Configure the task from YAML/JSON string. It must contain all the required parameters. More...
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bool | isConfigured () const |
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const ParamMap & | getParameters () const |
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void | onConfigureSuccess (std::function< void()> f) |
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| OrcaObject (const std::string &name) |
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virtual | ~OrcaObject () |
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const std::string & | getName () const |
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void | setName (const std::string &name) |
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