hpp::constraints::QPStaticStability Class Reference

#include <hpp/constraints/qp-static-stability.hh>

Inheritance diagram for hpp::constraints::QPStaticStability:

Collaboration diagram for hpp::constraints::QPStaticStability:

Public Types
typedef StaticStability::Contact_t	Contact_t
typedef StaticStability::Contacts_t	Contacts_t
typedef ConvexShapeContact::ForceData	ForceData

Public Member Functions
	QPStaticStability (const std::string &name, const DevicePtr_t &robot, const Contacts_t &contacts, const CenterOfMassComputationPtr_t &com)
	QPStaticStability (const std::string &name, const DevicePtr_t &robot, const std::vector< ForceData > &contacts, const CenterOfMassComputationPtr_t &com)
MatrixOfExpressions &	phi ()
Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual	~DifferentiableFunction ()
LiegroupElement	operator() (vectorIn_t argument) const
void	value (LiegroupElementRef result, vectorIn_t argument) const
void	jacobian (matrixOut_t jacobian, vectorIn_t argument) const
const ArrayXb &	activeParameters () const
const ArrayXb &	activeDerivativeParameters () const
size_type	inputSize () const
	Get dimension of input vector.
size_type	inputDerivativeSize () const
LiegroupSpacePtr_t	outputSpace () const
	Get output space.
size_type	outputSize () const
	Get dimension of output vector.
size_type	outputDerivativeSize () const
	Get dimension of output derivative vector.
const std::string &	name () const
	Get function name.
virtual std::ostream &	print (std::ostream &o) const
	Display object in a stream.
std::string	context () const
void	context (const std::string &c)
void	finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
void	finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
bool	operator== (DifferentiableFunction const &other) const
bool	operator!= (DifferentiableFunction const &b) const
virtual std::pair< JointConstPtr_t, JointConstPtr_t >	dependsOnRelPoseBetween (DeviceConstPtr_t) const

Static Public Member Functions
static QPStaticStabilityPtr_t	create (const std::string &name, const DevicePtr_t &robot, const Contacts_t &contacts, const CenterOfMassComputationPtr_t &com)
static QPStaticStabilityPtr_t	create (const std::string &name, const DevicePtr_t &robot, const std::vector< ForceData > &contacts, const CenterOfMassComputationPtr_t &com)
static QPStaticStabilityPtr_t	create (const DevicePtr_t &robot, const Contacts_t &contacts, const CenterOfMassComputationPtr_t &com)

Static Public Attributes
static const Eigen::Matrix< value_type, 6, 1 >	Gravity

Protected Member Functions
bool	isEqual (const DifferentiableFunction &other) const
Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())
	Concrete class constructor should call this constructor.
	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
	Concrete class constructor should call this constructor.
virtual void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0
	User implementation of function evaluation.
virtual void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0
	DifferentiableFunction ()

Additional Inherited Members
Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type	inputSize_
	Dimension of input vector.
size_type	inputDerivativeSize_
	Dimension of input derivative.
LiegroupSpacePtr_t	outputSpace_
	Dimension of output vector.
ArrayXb	activeParameters_
ArrayXb	activeDerivativeParameters_

Detailed Description

Quasi static equilibrium constraint defined as a QP program

This class defines a function whose value is equal to zero if and only if there exists a set of non-negative forces applied at some given contact points along some given normals that

See also

https://hal.archives-ouvertes.fr/tel-01516897 Chapter 2, Sections 3.1 and 3.2.

Member Typedef Documentation

Contact_t

typedef StaticStability::Contact_t hpp::constraints::QPStaticStability::Contact_t

Contacts_t

typedef StaticStability::Contacts_t hpp::constraints::QPStaticStability::Contacts_t

ForceData

typedef ConvexShapeContact::ForceData hpp::constraints::QPStaticStability::ForceData

Constructor & Destructor Documentation

QPStaticStability() [1/2]

hpp::constraints::QPStaticStability::QPStaticStability	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const Contacts_t &	contacts,
		const CenterOfMassComputationPtr_t &	com
	)

Constructor

Parameters

name	name of the constraint
robot	the robot the constraints is applied to,
contacts	set of contact points
com	COM of the robot

QPStaticStability() [2/2]

hpp::constraints::QPStaticStability::QPStaticStability	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const std::vector< ForceData > &	contacts,
		const CenterOfMassComputationPtr_t &	com
	)

Constructor

Parameters

robot	the robot the constraints is applied to,
com	COM of the robot

Member Function Documentation

create() [1/3]

static QPStaticStabilityPtr_t hpp::constraints::QPStaticStability::create ( const DevicePtr_t &  robot, const Contacts_t &  contacts, const CenterOfMassComputationPtr_t &  com  )

static

create() [2/3]

static QPStaticStabilityPtr_t hpp::constraints::QPStaticStability::create ( const std::string &  name, const DevicePtr_t &  robot, const Contacts_t &  contacts, const CenterOfMassComputationPtr_t &  com  )

static

create() [3/3]

static QPStaticStabilityPtr_t hpp::constraints::QPStaticStability::create ( const std::string &  name, const DevicePtr_t &  robot, const std::vector< ForceData > &  contacts, const CenterOfMassComputationPtr_t &  com  )

static

isEqual()

bool hpp::constraints::QPStaticStability::isEqual ( const DifferentiableFunction &  other ) const

inlineprotectedvirtual

Reimplemented from hpp::constraints::DifferentiableFunction.

phi()

MatrixOfExpressions & hpp::constraints::QPStaticStability::phi ( )

inline

Member Data Documentation

Gravity

const Eigen::Matrix<value_type, 6, 1> hpp::constraints::QPStaticStability::Gravity

static

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

• include/hpp/constraints/qp-static-stability.hh