ORCA: Optimization-based framework for Robotic Control Applications
ContactExistenceConditionConstraint.h
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1 //| This file is a part of the ORCA framework.
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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
40 
41 namespace orca
42 {
43 namespace constraint
44 {
45 
47 {
48 public:
49  ContactExistenceConditionConstraint(const std::string& name);
50 
51  void setBaseFrame(const std::string& base_ref_frame);
52 
53  void setControlFrame(const std::string& control_frame);
54 
55 protected:
56  void onActivation();
57  void onUpdateConstraintFunction(double current_time, double dt);
58  void onResize();
59 private:
60  math::Vector6d frame_bias_acc_;
61  Eigen::MatrixXd jacobian_;
62  std::string base_ref_frame_,control_frame_;
63 };
64 
65 }
66 }
void onUpdateConstraintFunction(double current_time, double dt)
Definition: ContactExistenceConditionConstraint.cc:31
void onActivation()
Definition: ContactExistenceConditionConstraint.cc:23
Definition: ContactExistenceConditionConstraint.h:46
void onResize()
Definition: ContactExistenceConditionConstraint.cc:49
ContactExistenceConditionConstraint(const std::string &name)
Definition: ContactExistenceConditionConstraint.cc:8
Eigen::Matrix< double, 6, 1 > Vector6d
Definition: Utils.h:62
void setBaseFrame(const std::string &base_ref_frame)
Definition: ContactExistenceConditionConstraint.cc:13
Definition: CartesianAccelerationPID.h:44
Definition: EqualityConstraint.h:47
void setControlFrame(const std::string &control_frame)
Definition: ContactExistenceConditionConstraint.cc:18