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

Classes

class  Controller
 
class  ControlVariableMapping
 
class  Problem
 
struct  ProblemData
 
class  QPSolver
 
class  QPSolverImpl
 

Enumerations

enum  ControlVariable {
  ControlVariable::X, ControlVariable::GeneralisedAcceleration, ControlVariable::FloatingBaseAcceleration, ControlVariable::JointAcceleration,
  ControlVariable::GeneralisedTorque, ControlVariable::FloatingBaseWrench, ControlVariable::JointTorque, ControlVariable::ExternalWrench,
  ControlVariable::ExternalWrenches, ControlVariable::Composite, ControlVariable::None
}
 
enum  QPSolverImplType { QPSolverImplType::qpOASES, QPSolverImplType::osqp, QPSolverImplType::eigQuadProg }
 
enum  ResolutionStrategy { ResolutionStrategy::OneLevelWeighted, ResolutionStrategy::MultiLevelWeighted, ResolutionStrategy::Generalized }
 

Functions

static std::string ControlVariableToString (const ControlVariable &cv)
 
inline::std::ostream & operator<< (::std::ostream &os, const ControlVariable &cv)
 
std::string QPSolverImplTypeToString (QPSolverImplType rs)
 
QPSolverImplType QPSolverImplTypeFromString (const std::string &rs)
 
std::ostream & operator<< (std::ostream &os, const QPSolverImplType &st)
 
std::string ResolutionStrategyToString (ResolutionStrategy rs)
 
ResolutionStrategy ResolutionStrategyFromString (const std::string &rs)
 
inline::std::ostream & operator<< (::std::ostream &os, const ResolutionStrategy &rs)
 

Enumeration Type Documentation

Enumerator
GeneralisedAcceleration 
FloatingBaseAcceleration 
JointAcceleration 
GeneralisedTorque 
FloatingBaseWrench 
JointTorque 
ExternalWrench 
ExternalWrenches 
Composite 
None 
Enumerator
qpOASES 
osqp 
eigQuadProg 
Enumerator
OneLevelWeighted 
MultiLevelWeighted 
Generalized 

Function Documentation

static std::string orca::optim::ControlVariableToString ( const ControlVariable cv)
static
inline ::std::ostream& orca::optim::operator<< ( ::std::ostream &  os,
const ResolutionStrategy rs 
)
std::ostream& orca::optim::operator<< ( std::ostream &  os,
const QPSolverImplType st 
)
inline
inline ::std::ostream& orca::optim::operator<< ( ::std::ostream &  os,
const ControlVariable cv 
)
QPSolverImplType orca::optim::QPSolverImplTypeFromString ( const std::string &  rs)
inline
std::string orca::optim::QPSolverImplTypeToString ( QPSolverImplType  rs)
inline
ResolutionStrategy orca::optim::ResolutionStrategyFromString ( const std::string &  rs)
inline
std::string orca::optim::ResolutionStrategyToString ( ResolutionStrategy  rs)
inline