#include <ContactExistenceConditionConstraint.h>

Inheritance diagram for orca::constraint::ContactExistenceConditionConstraint:

Collaboration diagram for orca::constraint::ContactExistenceConditionConstraint:

Public Member Functions
	ContactExistenceConditionConstraint (const std::string &name)

void	setBaseFrame (const std::string &base_ref_frame)

void	setControlFrame (const std::string &control_frame)

Public Member Functions inherited from orca::constraint::EqualityConstraint
	EqualityConstraint (const std::string &name, optim::ControlVariable control_var)

const Eigen::VectorXd &	getLowerBound () const override
	Returns the lower bound from the constraint function (alias) More...

const Eigen::VectorXd &	getUpperBound () const override
	Returns the upperbound from the constraint function (alias) More...

Eigen::VectorXd &	bound ()

const Eigen::VectorXd &	getBound () const

void	setBound (const Eigen::VectorXd &newBound)

Public Member Functions inherited from orca::constraint::GenericConstraint
	GenericConstraint (const std::string &name, optim::ControlVariable control_var)
	Construct the double bounded function, and set its default state : activated. The lowerBound is set to -inf and the upper bound to +inf C is set to Zero by default. More...

virtual	~GenericConstraint ()
	Destructor. Also removes from problem if still active/inserted. More...

virtual void	print () const

math::Size	getSize () const
	Get the size of the constraint matrix (rows,cols) More...

int	rows () const
	Get the number of rows of the constraint matrix. More...

int	cols () const
	Get the number of column (it should be the size of the control variable chosen) of the constraint matrix. More...

virtual const Eigen::MatrixXd &	getConstraintMatrix () const
	Returns the constraint matrix from the constraint function (alias) More...

const math::ConstraintFunction &	getConstraintFunction () const
	Get the underlying constraint function containing the 2 bound vectors and the constraint matrix. More...

Public Member Functions inherited from orca::common::TaskBase
	TaskBase (const std::string &name, optim::ControlVariable control_var)

virtual	~TaskBase ()

bool	isActivated () const

bool	isComputing () const

bool	setRobotModel (robot::RobotModel::Ptr robot)

optim::ControlVariable	getControlVariable () const

virtual bool	activate ()

virtual void	update (double current_time, double dt)

virtual bool	deactivate ()

virtual bool	setProblem (std::shared_ptr< const orca::optim::Problem > problem)

bool	hasProblem () const

bool	hasRobot () const

bool	dependsOnProblem () const

bool	dependsOnWrench () const

bool	dependsOnRobotJoints () const

bool	dependsOnFloatingBase () const

bool	hasWrench () const

bool	isRobotInitialized () const

State	getState () const

void	setRampDuration (double ramp_time)

double	getRampDuration () const

double	getCurrentRampValue () const

double	getStartTime () const

double	getStopTime () const

std::shared_ptr< const optim::Problem >	getProblem () const

std::shared_ptr< const common::Wrench >	getWrench () const

std::shared_ptr< const robot::RobotModel >	getRobot () const

void	addChild (TaskBase::Ptr e)
	Add a child/slave task that will be updated BEFORE the parent task. More...

bool	hasParent () const
	Returns true if the task owned by a parent task. More...

bool	hasChildren () const
	Returns true if the task has children. More...

const std::string &	getParentName () const
	Returns the parent name if it exists, empty otherwise. More...

const std::string &	getPrintableName () const
	Returns the name that include parent name if present. More...

void	onResizedCallback (std::function< void(void)> cb)

void	onActivationCallback (std::function< void(void)> cb)

void	onActivatedCallback (std::function< void(void)> cb)

void	onComputeBeginCallback (std::function< void(double, double)> cb)

void	onComputeEndCallback (std::function< void(double, double)> cb)

void	onDeactivationCallback (std::function< void(void)> cb)

void	onDeactivatedCallback (std::function< void(void)> cb)

Public Member Functions inherited from orca::common::ConfigurableOrcaObject
	ConfigurableOrcaObject (const std::string &config_name)

virtual	~ConfigurableOrcaObject ()

template<class T >
void	addParameter (const std::string &param_name, Parameter< T > *param, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0)
	Returns true if all params added with have been set. More...

template<class T >
void	addParameter (const std::string &param_name, T &param, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0)

ParameterBase *	getParameter (const std::string &param_name)
	Returns a param via its name. More...

void	printParameters () const
	Print all parameters to std::cout. More...

bool	configureFromFile (const std::string &yaml_url)
	Configure the task from YAML/JSON file. It must contain all the required parameters. More...

bool	configureFromString (const std::string &yaml_str)
	Configure the task from YAML/JSON string. It must contain all the required parameters. More...

bool	isConfigured () const

const ParamMap &	getParameters () const

void	onConfigureSuccess (std::function< void()> f)

Public Member Functions inherited from orca::common::OrcaObject
	OrcaObject (const std::string &name)

virtual	~OrcaObject ()

const std::string &	getName () const

void	setName (const std::string &name)

Protected Member Functions
void	onActivation ()

void	onUpdateConstraintFunction (double current_time, double dt)

void	onResize ()

Protected Member Functions inherited from orca::constraint::GenericConstraint
virtual void	onCompute (double current_time, double dt)

void	setConstraintMatrix (const Eigen::MatrixXd &newC)
	Replace the constraint matrix with a new one. More...

void	setLowerBound (const Eigen::VectorXd &low)
	Replace the lower bound with a new one. More...

void	setUpperBound (const Eigen::VectorXd &up)
	Replace the upper bound with a new one. More...

Eigen::MatrixXd &	constraintMatrix ()
	Returns a reference to the constraint matrix from the constraint function (alias) More...

Eigen::VectorXd &	upperBound ()

Eigen::VectorXd &	lowerBound ()

math::ConstraintFunction &	constraintFunction ()
	Get a reference the underlying constraint function containing the 2 bound vectors and the constraint matrix. More...

Protected Member Functions inherited from orca::common::TaskBase
virtual void	resize ()

robot::RobotModel::Ptr	robot ()

std::shared_ptr< Wrench >	wrench ()

virtual void	onResized ()

virtual void	onActivated ()

virtual bool	rampUp (double time_since_start)

void	setRampValue (double new_val)

virtual bool	rampDown (double time_since_stop)

virtual void	onDeactivation ()

virtual void	onDeactivated ()

Additional Inherited Members
Public Types inherited from orca::constraint::GenericConstraint
using	Ptr = std::shared_ptr< GenericConstraint >

Public Types inherited from orca::common::TaskBase
enum	State { Init = 0, Resized, Activating, Activated, Deactivating, Deactivated, Error }
	Represents the internal state of the task. More...

using	Ptr = std::shared_ptr< TaskBase >

Public Types inherited from orca::common::ConfigurableOrcaObject
using	Ptr = std::shared_ptr< ConfigurableOrcaObject >

using	ParamMap = std::map< std::string, ParameterBase * >

Public Attributes inherited from orca::common::TaskBase
orca::common::MutexRecursive	mutex
	The recursive mutex that is locked during the update function. It is up to the external user to lock this mutex to protect the task attributes. More...

Constructor & Destructor Documentation

ContactExistenceConditionConstraint::ContactExistenceConditionConstraint ( const std::string & name )

Member Function Documentation

void ContactExistenceConditionConstraint::onActivation ( )

protectedvirtual

Reimplemented from orca::common::TaskBase.

void ContactExistenceConditionConstraint::onResize ( )

protectedvirtual

Implements orca::constraint::GenericConstraint.

void ContactExistenceConditionConstraint::onUpdateConstraintFunction	(	double	current_time,
		double	dt
	)

protectedvirtual

Implements orca::constraint::GenericConstraint.

void ContactExistenceConditionConstraint::setBaseFrame ( const std::string & base_ref_frame )

void ContactExistenceConditionConstraint::setControlFrame ( const std::string & control_frame )

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

/home/docs/checkouts/readthedocs.org/user_builds/orca-controller/checkouts/dev/include/orca/constraint/ContactExistenceConditionConstraint.h
/home/docs/checkouts/readthedocs.org/user_builds/orca-controller/checkouts/dev/src/constraint/ContactExistenceConditionConstraint.cc

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation