Getting Started
Installation and Configuration
Dependencies
Installing the dependencies
Installing ORCA
Testing your installation
Quick Start Guide
What’s next?
Where to go from here?
Check out the examples
Want to use ORCA in you project?
Check out the API Documentation
ROS or OROCOS user?
Building the documentation
How to build
Python dependencies
Doxygen
Building the docs with Sphinx
How to browse
Using ORCA in your projects
CMake
catkin
Reference
API Reference
API Documentation
Examples
Basic
Simple controller
Objective
Introduction
Setup
Creating the Controller
Adding Tasks
Adding Constraints
Control Loop
Shutting Things Down
Conclusion
Full Code Listing
Simulating the controller performance
Full Code Listing
Intermediate
An introduction to the ORCA callback system
Full Code Listing
Using lambda functions in the callbacks
Full Code Listing
Gazebo
Simulating a single robot
Full Code Listing
Simulating multiple robots
Full Code Listing
Set robot state
Full Code Listing
Set robot state with gravity compensation
Full Code Listing
Using Gazebo to simulate an ORCA controller
Full Code Listing
Minimum jerk Cartesian trajectory following
Full Code Listing
Plotting
Using the internal plotting tools
Full Code Listing
Controller Formulation
Overview
Dynamics
Free-Floating Rigid Body Dynamics
Optimization
Optimization Vector
The Optimization Problem
Objective Function Implementation
Constraint Implementation
ORCA QP
Tasks
Control Objectives (Tasks)
Cartesian Acceleration Task
Joint Acceleration Task
Wrench Task
Torque Task
Task Servoing
Constraints
Control Constraints
Dynamics Constraints
Actuator Limit Constraints
Joint Limit Constraints
Contact Constraints
Resolution Strategies
Multi-Objective Optimization
Resolution (Prioritization) Strategies for Whole-Body Control
Resolution Strategies in ORCA
One Level Weighted
Multi-Level Weighted
Generalized
License Information
License
ORCA
Docs
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Index
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Index
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