orca::optim Namespace Reference

Classes
class	Controller
class	ControlVariableMapping
class	Problem
struct	ProblemData
class	QPSolver
class	QPSolverImpl

Enumerations
enum	ControlVariable {   ControlVariable::X, ControlVariable::GeneralisedAcceleration, ControlVariable::FloatingBaseAcceleration, ControlVariable::JointAcceleration,   ControlVariable::GeneralisedTorque, ControlVariable::FloatingBaseWrench, ControlVariable::JointTorque, ControlVariable::ExternalWrench,   ControlVariable::ExternalWrenches, ControlVariable::Composite, ControlVariable::None }
enum	QPSolverImplType { QPSolverImplType::qpOASES, QPSolverImplType::osqp, QPSolverImplType::eigQuadProg }
enum	ResolutionStrategy { ResolutionStrategy::OneLevelWeighted, ResolutionStrategy::MultiLevelWeighted, ResolutionStrategy::Generalized }

Functions
static std::string	ControlVariableToString (const ControlVariable &cv)
inline::std::ostream &	operator<< (::std::ostream &os, const ControlVariable &cv)
std::string	QPSolverImplTypeToString (QPSolverImplType rs)
QPSolverImplType	QPSolverImplTypeFromString (const std::string &rs)
std::ostream &	operator<< (std::ostream &os, const QPSolverImplType &st)
std::string	ResolutionStrategyToString (ResolutionStrategy rs)
ResolutionStrategy	ResolutionStrategyFromString (const std::string &rs)
inline::std::ostream &	operator<< (::std::ostream &os, const ResolutionStrategy &rs)

Enumeration Type Documentation

enum orca::optim::ControlVariable

strong

Enumerator
X
GeneralisedAcceleration
FloatingBaseAcceleration
JointAcceleration
GeneralisedTorque
FloatingBaseWrench
JointTorque
ExternalWrench
ExternalWrenches
Composite
None

enum orca::optim::QPSolverImplType

strong

Enumerator
qpOASES
osqp
eigQuadProg

enum orca::optim::ResolutionStrategy

strong

Enumerator
OneLevelWeighted
MultiLevelWeighted
Generalized

Function Documentation

static std::string orca::optim::ControlVariableToString ( const ControlVariable &  cv )

static

inline ::std::ostream& orca::optim::operator<<	(	::std::ostream &	os,
		const ResolutionStrategy &	rs
	)

std::ostream& orca::optim::operator<< ( std::ostream &  os, const QPSolverImplType &  st  )

inline

inline ::std::ostream& orca::optim::operator<<	(	::std::ostream &	os,
		const ControlVariable &	cv
	)

QPSolverImplType orca::optim::QPSolverImplTypeFromString ( const std::string &  rs )

inline

std::string orca::optim::QPSolverImplTypeToString ( QPSolverImplType  rs )

inline

ResolutionStrategy orca::optim::ResolutionStrategyFromString ( const std::string &  rs )

inline

std::string orca::optim::ResolutionStrategyToString ( ResolutionStrategy  rs )

inline