ORCA: Optimization-based framework for Robotic Control Applications
Public Types | Public Member Functions | Protected Attributes | List of all members
orca::optim::Problem Class Reference

#include <Problem.h>

+ Collaboration diagram for orca::optim::Problem:

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< QPSolverqpSolver ()
 

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::RobotModelrobot_
 
QPSolver::Ptr qpsolver_ = std::make_shared<QPSolver>()
 
ProblemData data_
 
unsigned int number_of_variables_ = 0
 
unsigned int number_of_constraints_rows_ = 0
 

Member Typedef Documentation

using orca::optim::Problem::Ptr = std::shared_ptr<Problem>

Constructor & Destructor Documentation

Problem::Problem ( )
Problem::~Problem ( )
virtual

Member Function Documentation

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)

Member Data Documentation

std::list< std::shared_ptr< constraint::GenericConstraint > > orca::optim::Problem::constraints_
protected
ProblemData orca::optim::Problem::data_
protected
ControlVariableMapping orca::optim::Problem::mapping_
protected
unsigned int orca::optim::Problem::number_of_constraints_rows_ = 0
protected
unsigned int orca::optim::Problem::number_of_variables_ = 0
protected
QPSolver::Ptr orca::optim::Problem::qpsolver_ = std::make_shared<QPSolver>()
protected
std::shared_ptr<robot::RobotModel> orca::optim::Problem::robot_
protected
std::list< std::shared_ptr< task::GenericTask > > orca::optim::Problem::tasks_
protected
std::list< std::shared_ptr< const common::Wrench > > orca::optim::Problem::wrenches_
protected

The documentation for this class was generated from the following files: