ORCA: Optimization-based framework for Robotic Control Applications
Classes
orca::constraint Namespace Reference

Classes

class  Contact
 
class  ContactExistenceConditionConstraint
 
class  DynamicsEquationConstraint
 
class  EqualityConstraint
 
class  GenericConstraint
 Builds a double bounded function : l < C.x < u With x the control variable, l = lowerBound, u = upperBound, and C the constraint matrix. More...
 
class  JointAccelerationLimitConstraint
 
class  JointLimitConstraint
 
class  JointPositionLimitConstraint
 
class  JointTorqueLimitConstraint
 
class  JointVelocityLimitConstraint
 
class  LinearizedCoulombConstraint