ORCA: Optimization-based framework for Robotic Control Applications
Classes | Enumerations | Functions
orca::common Namespace Reference

Classes

class  CartesianAccelerationPID
 
class  CartesianServoController
 
class  ConfigurableOrcaObject
 Represents a set of parameters that can be loaded from a YAML file. More...
 
class  Factory
 
class  Mutex
 
struct  MutexInterface
 
class  MutexLock
 
class  MutexRecursive
 
class  MutexTryLock
 
class  OrcaObject
 
class  Parameter
 This class holds the conversion from a string (YAML string) to the data type. More...
 
class  Parameter< std::list< T > >
 
class  Parameter< std::shared_ptr< T > >
 
class  ParameterBase
 ParameterBase is the public interface to any parameter. More...
 
class  ParameterData
 This class holds the data for a parameter of any type. More...
 
class  PIDController
 
class  TaskBase
 The common base class for tasks and constraints. More...
 
class  Wrench
 

Enumerations

enum  ParamPolicy { ParamPolicy::Required = 0, ParamPolicy::Optional }
 The ParamPolicy defines if an error should be thrown when trying to do anything with the task before all #Required parameters are set at least once. More...
 
enum  ReturnCode {
  TERMINAL_LIST_ELEMENT = -1, SUCCESSFUL_RETURN = 0, RET_DIV_BY_ZERO, RET_INDEX_OUT_OF_BOUNDS,
  RET_INVALID_ARGUMENTS, RET_ERROR_UNDEFINED, RET_WARNING_UNDEFINED, RET_INFO_UNDEFINED,
  RET_EWI_UNDEFINED, RET_AVAILABLE_WITH_LINUX_ONLY, RET_UNKNOWN_BUG, RET_PRINTLEVEL_CHANGED,
  RET_NOT_YET_IMPLEMENTED, RET_INDEXLIST_MUST_BE_REORDERD, RET_INDEXLIST_EXCEEDS_MAX_LENGTH, RET_INDEXLIST_CORRUPTED,
  RET_INDEXLIST_OUTOFBOUNDS, RET_INDEXLIST_ADD_FAILED, RET_INDEXLIST_INTERSECT_FAILED, RET_INDEX_ALREADY_OF_DESIRED_STATUS,
  RET_ADDINDEX_FAILED, RET_REMOVEINDEX_FAILED, RET_SWAPINDEX_FAILED, RET_NOTHING_TO_DO,
  RET_SETUP_BOUND_FAILED, RET_SETUP_CONSTRAINT_FAILED, RET_MOVING_BOUND_FAILED, RET_MOVING_CONSTRAINT_FAILED,
  RET_SHIFTING_FAILED, RET_ROTATING_FAILED, RET_QPOBJECT_NOT_SETUP, RET_QP_ALREADY_INITIALISED,
  RET_NO_INIT_WITH_STANDARD_SOLVER, RET_RESET_FAILED, RET_INIT_FAILED, RET_INIT_FAILED_TQ,
  RET_INIT_FAILED_CHOLESKY, RET_INIT_FAILED_HOTSTART, RET_INIT_FAILED_INFEASIBILITY, RET_INIT_FAILED_UNBOUNDEDNESS,
  RET_INIT_FAILED_REGULARISATION, RET_INIT_SUCCESSFUL, RET_OBTAINING_WORKINGSET_FAILED, RET_SETUP_WORKINGSET_FAILED,
  RET_SETUP_AUXILIARYQP_FAILED, RET_NO_CHOLESKY_WITH_INITIAL_GUESS, RET_NO_EXTERN_SOLVER, RET_QP_UNBOUNDED,
  RET_QP_INFEASIBLE, RET_QP_NOT_SOLVED, RET_QP_SOLVED, RET_UNABLE_TO_SOLVE_QP,
  RET_INITIALISATION_STARTED, RET_HOTSTART_FAILED, RET_HOTSTART_FAILED_TO_INIT, RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED,
  RET_ITERATION_STARTED, RET_SHIFT_DETERMINATION_FAILED, RET_STEPDIRECTION_DETERMINATION_FAILED, RET_STEPLENGTH_DETERMINATION_FAILED,
  RET_OPTIMAL_SOLUTION_FOUND, RET_HOMOTOPY_STEP_FAILED, RET_HOTSTART_STOPPED_INFEASIBILITY, RET_HOTSTART_STOPPED_UNBOUNDEDNESS,
  RET_WORKINGSET_UPDATE_FAILED, RET_MAX_NWSR_REACHED, RET_CONSTRAINTS_NOT_SPECIFIED, RET_INVALID_FACTORISATION_FLAG,
  RET_UNABLE_TO_SAVE_QPDATA, RET_STEPDIRECTION_FAILED_TQ, RET_STEPDIRECTION_FAILED_CHOLESKY, RET_CYCLING_DETECTED,
  RET_CYCLING_NOT_RESOLVED, RET_CYCLING_RESOLVED, RET_STEPSIZE, RET_STEPSIZE_NONPOSITIVE,
  RET_SETUPSUBJECTTOTYPE_FAILED, RET_ADDCONSTRAINT_FAILED, RET_ADDCONSTRAINT_FAILED_INFEASIBILITY, RET_ADDBOUND_FAILED,
  RET_ADDBOUND_FAILED_INFEASIBILITY, RET_REMOVECONSTRAINT_FAILED, RET_REMOVEBOUND_FAILED, RET_REMOVE_FROM_ACTIVESET,
  RET_ADD_TO_ACTIVESET, RET_REMOVE_FROM_ACTIVESET_FAILED, RET_ADD_TO_ACTIVESET_FAILED, RET_CONSTRAINT_ALREADY_ACTIVE,
  RET_ALL_CONSTRAINTS_ACTIVE, RET_LINEARLY_DEPENDENT, RET_LINEARLY_INDEPENDENT, RET_LI_RESOLVED,
  RET_ENSURELI_FAILED, RET_ENSURELI_FAILED_TQ, RET_ENSURELI_FAILED_NOINDEX, RET_ENSURELI_FAILED_CYCLING,
  RET_BOUND_ALREADY_ACTIVE, RET_ALL_BOUNDS_ACTIVE, RET_CONSTRAINT_NOT_ACTIVE, RET_BOUND_NOT_ACTIVE,
  RET_HESSIAN_NOT_SPD, RET_HESSIAN_INDEFINITE, RET_MATRIX_SHIFT_FAILED, RET_MATRIX_FACTORISATION_FAILED,
  RET_PRINT_ITERATION_FAILED, RET_NO_GLOBAL_MESSAGE_OUTPUTFILE, RET_DISABLECONSTRAINTS_FAILED, RET_ENABLECONSTRAINTS_FAILED,
  RET_ALREADY_ENABLED, RET_ALREADY_DISABLED, RET_NO_HESSIAN_SPECIFIED, RET_USING_REGULARISATION,
  RET_EPS_MUST_BE_POSITVE, RET_REGSTEPS_MUST_BE_POSITVE, RET_HESSIAN_ALREADY_REGULARISED, RET_CANNOT_REGULARISE_IDENTITY,
  RET_CANNOT_REGULARISE_SPARSE, RET_NO_REGSTEP_NWSR, RET_FEWER_REGSTEPS_NWSR, RET_CHOLESKY_OF_ZERO_HESSIAN,
  RET_ZERO_HESSIAN_ASSUMED, RET_CONSTRAINTS_ARE_NOT_SCALED, RET_INITIAL_BOUNDS_STATUS_NYI, RET_ERROR_IN_CONSTRAINTPRODUCT,
  RET_FIX_BOUNDS_FOR_LP, RET_USE_REGULARISATION_FOR_LP, RET_UPDATEMATRICES_FAILED, RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED,
  RET_UNABLE_TO_OPEN_FILE, RET_UNABLE_TO_WRITE_FILE, RET_UNABLE_TO_READ_FILE, RET_FILEDATA_INCONSISTENT,
  RET_OPTIONS_ADJUSTED, RET_UNABLE_TO_ANALYSE_QPROBLEM, RET_NWSR_SET_TO_ONE, RET_UNABLE_TO_READ_BENCHMARK,
  RET_BENCHMARK_ABORTED, RET_INITIAL_QP_SOLVED, RET_QP_SOLUTION_STARTED, RET_BENCHMARK_SUCCESSFUL,
  RET_NO_DIAGONAL_AVAILABLE, RET_DIAGONAL_NOT_INITIALISED, RET_ENSURELI_DROPPED, RET_SIMPLE_STATUS_P1,
  RET_SIMPLE_STATUS_P0, RET_SIMPLE_STATUS_M1, RET_SIMPLE_STATUS_M2, RET_SIMPLE_STATUS_M3
}
 

Functions

std::string findType (const YAML::Node &n)
 
inline ::std::ostream & operator<< (::std::ostream &os, const TaskBase::State &s)
 

Enumeration Type Documentation

◆ ParamPolicy

The ParamPolicy defines if an error should be thrown when trying to do anything with the task before all #Required parameters are set at least once.

Enumerator
Required 
Optional 

◆ ReturnCode

Enumerator
TERMINAL_LIST_ELEMENT 
SUCCESSFUL_RETURN 
RET_DIV_BY_ZERO 
RET_INDEX_OUT_OF_BOUNDS 
RET_INVALID_ARGUMENTS 
RET_ERROR_UNDEFINED 
RET_WARNING_UNDEFINED 
RET_INFO_UNDEFINED 
RET_EWI_UNDEFINED 
RET_AVAILABLE_WITH_LINUX_ONLY 
RET_UNKNOWN_BUG 
RET_PRINTLEVEL_CHANGED 
RET_NOT_YET_IMPLEMENTED 
RET_INDEXLIST_MUST_BE_REORDERD 
RET_INDEXLIST_EXCEEDS_MAX_LENGTH 
RET_INDEXLIST_CORRUPTED 
RET_INDEXLIST_OUTOFBOUNDS 
RET_INDEXLIST_ADD_FAILED 
RET_INDEXLIST_INTERSECT_FAILED 
RET_INDEX_ALREADY_OF_DESIRED_STATUS 
RET_ADDINDEX_FAILED 
RET_REMOVEINDEX_FAILED 
RET_SWAPINDEX_FAILED 
RET_NOTHING_TO_DO 
RET_SETUP_BOUND_FAILED 
RET_SETUP_CONSTRAINT_FAILED 
RET_MOVING_BOUND_FAILED 
RET_MOVING_CONSTRAINT_FAILED 
RET_SHIFTING_FAILED 
RET_ROTATING_FAILED 
RET_QPOBJECT_NOT_SETUP 
RET_QP_ALREADY_INITIALISED 
RET_NO_INIT_WITH_STANDARD_SOLVER 
RET_RESET_FAILED 
RET_INIT_FAILED 
RET_INIT_FAILED_TQ 
RET_INIT_FAILED_CHOLESKY 
RET_INIT_FAILED_HOTSTART 
RET_INIT_FAILED_INFEASIBILITY 
RET_INIT_FAILED_UNBOUNDEDNESS 
RET_INIT_FAILED_REGULARISATION 
RET_INIT_SUCCESSFUL 
RET_OBTAINING_WORKINGSET_FAILED 
RET_SETUP_WORKINGSET_FAILED 
RET_SETUP_AUXILIARYQP_FAILED 
RET_NO_CHOLESKY_WITH_INITIAL_GUESS 
RET_NO_EXTERN_SOLVER 
RET_QP_UNBOUNDED 
RET_QP_INFEASIBLE 
RET_QP_NOT_SOLVED 
RET_QP_SOLVED 
RET_UNABLE_TO_SOLVE_QP 
RET_INITIALISATION_STARTED 
RET_HOTSTART_FAILED 
RET_HOTSTART_FAILED_TO_INIT 
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED 
RET_ITERATION_STARTED 
RET_SHIFT_DETERMINATION_FAILED 
RET_STEPDIRECTION_DETERMINATION_FAILED 
RET_STEPLENGTH_DETERMINATION_FAILED 
RET_OPTIMAL_SOLUTION_FOUND 
RET_HOMOTOPY_STEP_FAILED 
RET_HOTSTART_STOPPED_INFEASIBILITY 
RET_HOTSTART_STOPPED_UNBOUNDEDNESS 
RET_WORKINGSET_UPDATE_FAILED 
RET_MAX_NWSR_REACHED 
RET_CONSTRAINTS_NOT_SPECIFIED 
RET_INVALID_FACTORISATION_FLAG 
RET_UNABLE_TO_SAVE_QPDATA 
RET_STEPDIRECTION_FAILED_TQ 
RET_STEPDIRECTION_FAILED_CHOLESKY 
RET_CYCLING_DETECTED 
RET_CYCLING_NOT_RESOLVED 
RET_CYCLING_RESOLVED 
RET_STEPSIZE 
RET_STEPSIZE_NONPOSITIVE 
RET_SETUPSUBJECTTOTYPE_FAILED 
RET_ADDCONSTRAINT_FAILED 
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY 
RET_ADDBOUND_FAILED 
RET_ADDBOUND_FAILED_INFEASIBILITY 
RET_REMOVECONSTRAINT_FAILED 
RET_REMOVEBOUND_FAILED 
RET_REMOVE_FROM_ACTIVESET 
RET_ADD_TO_ACTIVESET 
RET_REMOVE_FROM_ACTIVESET_FAILED 
RET_ADD_TO_ACTIVESET_FAILED 
RET_CONSTRAINT_ALREADY_ACTIVE 
RET_ALL_CONSTRAINTS_ACTIVE 
RET_LINEARLY_DEPENDENT 
RET_LINEARLY_INDEPENDENT 
RET_LI_RESOLVED 
RET_ENSURELI_FAILED 
RET_ENSURELI_FAILED_TQ 
RET_ENSURELI_FAILED_NOINDEX 
RET_ENSURELI_FAILED_CYCLING 
RET_BOUND_ALREADY_ACTIVE 
RET_ALL_BOUNDS_ACTIVE 
RET_CONSTRAINT_NOT_ACTIVE 
RET_BOUND_NOT_ACTIVE 
RET_HESSIAN_NOT_SPD 
RET_HESSIAN_INDEFINITE 
RET_MATRIX_SHIFT_FAILED 
RET_MATRIX_FACTORISATION_FAILED 
RET_PRINT_ITERATION_FAILED 
RET_NO_GLOBAL_MESSAGE_OUTPUTFILE 
RET_DISABLECONSTRAINTS_FAILED 
RET_ENABLECONSTRAINTS_FAILED 
RET_ALREADY_ENABLED 
RET_ALREADY_DISABLED 
RET_NO_HESSIAN_SPECIFIED 
RET_USING_REGULARISATION 
RET_EPS_MUST_BE_POSITVE 
RET_REGSTEPS_MUST_BE_POSITVE 
RET_HESSIAN_ALREADY_REGULARISED 
RET_CANNOT_REGULARISE_IDENTITY 
RET_CANNOT_REGULARISE_SPARSE 
RET_NO_REGSTEP_NWSR 
RET_FEWER_REGSTEPS_NWSR 
RET_CHOLESKY_OF_ZERO_HESSIAN 
RET_ZERO_HESSIAN_ASSUMED 
RET_CONSTRAINTS_ARE_NOT_SCALED 
RET_INITIAL_BOUNDS_STATUS_NYI 
RET_ERROR_IN_CONSTRAINTPRODUCT 
RET_FIX_BOUNDS_FOR_LP 
RET_USE_REGULARISATION_FOR_LP 
RET_UPDATEMATRICES_FAILED 
RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED 
RET_UNABLE_TO_OPEN_FILE 
RET_UNABLE_TO_WRITE_FILE 
RET_UNABLE_TO_READ_FILE 
RET_FILEDATA_INCONSISTENT 
RET_OPTIONS_ADJUSTED 
RET_UNABLE_TO_ANALYSE_QPROBLEM 
RET_NWSR_SET_TO_ONE 
RET_UNABLE_TO_READ_BENCHMARK 
RET_BENCHMARK_ABORTED 
RET_INITIAL_QP_SOLVED 
RET_QP_SOLUTION_STARTED 
RET_BENCHMARK_SUCCESSFUL 
RET_NO_DIAGONAL_AVAILABLE 
RET_DIAGONAL_NOT_INITIALISED 
RET_ENSURELI_DROPPED 
RET_SIMPLE_STATUS_P1 
RET_SIMPLE_STATUS_P0 
RET_SIMPLE_STATUS_M1 
RET_SIMPLE_STATUS_M2 
RET_SIMPLE_STATUS_M3 

Function Documentation

◆ findType()

std::string orca::common::findType ( const YAML::Node &  n)
inline

◆ operator<<()

inline ::std::ostream& orca::common::operator<< ( ::std::ostream &  os,
const TaskBase::State s 
)