ORCA: Optimization-based framework for Robotic Control Applications
DynamicsEquationConstraint.h
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3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
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6 //| Main contributor(s): Antoine Hoarau, Ryan Lober, and
7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
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9 //| ORCA is a whole-body reactive controller framework for robotics.
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36 
37 
38 #pragma once
41 #include "orca/common/Wrench.h"
42 
43 namespace orca
44 {
45 namespace constraint
46 {
47 
49 {
50 public:
51  DynamicsEquationConstraint(const std::string& name);
52 
53 protected:
54  void onUpdateConstraintFunction(double current_time, double dt);
55  void onResize();
56 private:
57  std::list< std::shared_ptr< const common::Wrench> > wrenches_;
58  std::map<optim::ControlVariable, unsigned int > idx_map_;
59  std::map<optim::ControlVariable, unsigned int > size_map_;
60  int ndof_ = 0,fulldim_ = 0;
61 
62 };
63 
64 }
65 }
Definition: DynamicsEquationConstraint.h:48
DynamicsEquationConstraint(const std::string &name)
Definition: DynamicsEquationConstraint.cc:7
void onResize()
Definition: DynamicsEquationConstraint.cc:13
Definition: CartesianAccelerationPID.h:44
Definition: EqualityConstraint.h:47
void onUpdateConstraintFunction(double current_time, double dt)
Definition: DynamicsEquationConstraint.cc:27