orca::optim::Problem Class Reference

#include <Problem.h>

Collaboration diagram for orca::optim::Problem:

Public Types
using	Ptr = std::shared_ptr< Problem >

Public Member Functions
	Problem ()
virtual	~Problem ()
bool	setRobotModel (std::shared_ptr< robot::RobotModel > robot)
bool	setImplementationType (QPSolverImplType solver_type)
void	build ()
bool	solve ()
common::ReturnCode	getReturnCode () const
bool	addConstraint (std::shared_ptr< constraint::GenericConstraint > cstr)
bool	constraintExists (std::shared_ptr< constraint::GenericConstraint > cstr)
bool	addTask (std::shared_ptr< task::GenericTask > task)
bool	taskExists (std::shared_ptr< task::GenericTask > task)
const std::list< std::shared_ptr< const common::Wrench > > &	getWrenches () const
const std::list< std::shared_ptr< task::GenericTask > > &	getTasks () const
const std::list< std::shared_ptr< constraint::GenericConstraint > > &	getConstraints () const
unsigned int	getIndex (ControlVariable var) const
unsigned int	getSize (ControlVariable var) const
unsigned int	getTotalSize () const
const std::map< ControlVariable, unsigned int > &	getIndexMap () const
const std::map< ControlVariable, unsigned int > &	getSizeMap () const
void	print () const
Eigen::VectorXd	getSolution (ControlVariable var) const
const Eigen::VectorXd &	getSolution () const
std::shared_ptr< QPSolver >	qpSolver ()

Protected Attributes
std::list< std::shared_ptr< const common::Wrench > >	wrenches_
std::list< std::shared_ptr< task::GenericTask > >	tasks_
std::list< std::shared_ptr< constraint::GenericConstraint > >	constraints_
ControlVariableMapping	mapping_
std::shared_ptr< robot::RobotModel >	robot_
QPSolver::Ptr	qpsolver_ = std::make_shared<QPSolver>()
ProblemData	data_
unsigned int	number_of_variables_ = 0
unsigned int	number_of_constraints_rows_ = 0

Member Typedef Documentation

using orca::optim::Problem::Ptr = std::shared_ptr<Problem>

Constructor & Destructor Documentation

Problem::Problem

(

)

Problem::~Problem ( )

virtual

Member Function Documentation

bool Problem::addConstraint

(

std::shared_ptr< constraint::GenericConstraint >

cstr

)

bool Problem::addTask

(

std::shared_ptr< task::GenericTask >

task

)

void Problem::build

(

)

bool Problem::constraintExists

(

std::shared_ptr< constraint::GenericConstraint >

cstr

)

const std::list< std::shared_ptr< GenericConstraint > > & Problem::getConstraints

(

)

const

unsigned int Problem::getIndex

(

ControlVariable

var

)

const

const std::map< ControlVariable, unsigned int > & Problem::getIndexMap

(

)

const

ReturnCode Problem::getReturnCode

(

)

const

unsigned int Problem::getSize

(

ControlVariable

var

)

const

const std::map< ControlVariable, unsigned int > & Problem::getSizeMap

(

)

const

Eigen::VectorXd Problem::getSolution

(

ControlVariable

var

)

const

const Eigen::VectorXd & Problem::getSolution

(

)

const

const std::list< std::shared_ptr< GenericTask > > & Problem::getTasks

(

)

const

unsigned int Problem::getTotalSize

(

)

const

const std::list< std::shared_ptr< const Wrench > > & Problem::getWrenches

(

)

const

void Problem::print

(

)

const

std::shared_ptr< QPSolver > Problem::qpSolver

(

)

bool Problem::setImplementationType

(

QPSolverImplType

solver_type

)

bool Problem::setRobotModel

(

std::shared_ptr< robot::RobotModel >

robot

)

bool Problem::solve

(

)

bool Problem::taskExists

(

std::shared_ptr< task::GenericTask >

task

)

Member Data Documentation

std::list< std::shared_ptr< constraint::GenericConstraint > > orca::optim::Problem::constraints_

protected

ProblemData orca::optim::Problem::data_

protected

ControlVariableMapping orca::optim::Problem::mapping_

protected

unsigned int orca::optim::Problem::number_of_constraints_rows_ = 0

protected

unsigned int orca::optim::Problem::number_of_variables_ = 0

protected

QPSolver::Ptr orca::optim::Problem::qpsolver_ = std::make_shared<QPSolver>()

protected

std::shared_ptr<robot::RobotModel> orca::optim::Problem::robot_

protected

std::list< std::shared_ptr< task::GenericTask > > orca::optim::Problem::tasks_

protected

std::list< std::shared_ptr< const common::Wrench > > orca::optim::Problem::wrenches_

protected

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

• /home/docs/checkouts/readthedocs.org/user_builds/orca-controller/checkouts/dev/include/orca/optim/Problem.h
• /home/docs/checkouts/readthedocs.org/user_builds/orca-controller/checkouts/dev/src/optim/Problem.cc