60 class GenericConstraint;
76 using Ptr = std::shared_ptr<Problem>;
82 bool setRobotModel(std::shared_ptr<robot::RobotModel> robot);
89 bool addConstraint(std::shared_ptr< constraint::GenericConstraint> cstr);
90 bool constraintExists(std::shared_ptr< constraint::GenericConstraint> cstr);
91 bool addTask(std::shared_ptr< task::GenericTask> task);
92 bool taskExists(std::shared_ptr< task::GenericTask> task);
93 const std::list< std::shared_ptr< const common::Wrench> >& getWrenches()
const;
94 const std::list< std::shared_ptr< task::GenericTask> >& getTasks()
const;
95 const std::list< std::shared_ptr< constraint::GenericConstraint> >& getConstraints()
const;
99 unsigned int getTotalSize()
const;
100 const std::map<ControlVariable, unsigned int >& getIndexMap()
const;
101 const std::map<ControlVariable, unsigned int >& getSizeMap()
const;
104 const Eigen::VectorXd& getSolution()
const;
105 std::shared_ptr<QPSolver> qpSolver();
107 std::list< std::shared_ptr< const common::Wrench > >
wrenches_;
108 std::list< std::shared_ptr< task::GenericTask > >
tasks_;
109 std::list< std::shared_ptr< constraint::GenericConstraint > >
constraints_;
114 std::shared_ptr<robot::RobotModel>
robot_;
118 unsigned int number_of_variables_ = 0;
119 unsigned int number_of_constraints_rows_ = 0;
122 bool addWrench(std::shared_ptr< const common::Wrench > wrench);
123 unsigned int computeNumberOfConstraintRows()
const;
124 unsigned int generateVariableMapping();
125 void resizeProblemData(
int nvar,
int nconstr);
126 void resizeSolver(
int nvar,
int nconstr);
ReturnCode
Definition: ReturnCode.h:45
ControlVariableMapping mapping_
Definition: Problem.h:112
std::shared_ptr< Problem > Ptr
Definition: Problem.h:76
Definition: GenericTask.h:50
QPSolverImplType
Definition: QPSolverImplType.h:44
std::shared_ptr< robot::RobotModel > robot_
Definition: Problem.h:114
Definition: ControlVariableMapping.h:48
ProblemData data_
Definition: Problem.h:117
The robot model class allow to make kinematics and dynamics computations.
Definition: RobotModel.h:108
std::shared_ptr< QPSolver > Ptr
Definition: QPSolver.h:54
std::list< std::shared_ptr< constraint::GenericConstraint > > constraints_
Definition: Problem.h:109
Definition: CartesianAccelerationPID.h:44
ControlVariable
Definition: ControlVariable.h:44
Definition: ProblemData.h:46
std::list< std::shared_ptr< const common::Wrench > > wrenches_
Definition: Problem.h:107
Definition: WrenchTask.h:48
std::list< std::shared_ptr< task::GenericTask > > tasks_
Definition: Problem.h:108