#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)
	Constructor. More...

	QPStaticStability (const std::string &name, const DevicePtr_t &robot, const std::vector< ForceData > &contacts, const CenterOfMassComputationPtr_t &com)
	Constructor. More...

MatrixOfExpressions &	phi ()

Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual	~DifferentiableFunction ()

LiegroupElement	operator() (vectorIn_t argument) const
	Evaluate the function at a given parameter. More...

void	value (LiegroupElementRef result, vectorIn_t argument) const
	Evaluate the function at a given parameter. More...

void	jacobian (matrixOut_t jacobian, vectorIn_t argument) const
	Computes the jacobian. More...

const ArrayXb &	activeParameters () const
	Returns a vector of booleans that indicates whether the corresponding configuration parameter influences this constraints. More...

const ArrayXb &	activeDerivativeParameters () const
	Returns a vector of booleans that indicates whether the corresponding velocity parameter influences this constraints. More...

size_type	inputSize () const
	Get dimension of input vector. More...

size_type	inputDerivativeSize () const
	Get dimension of input derivative vector. More...

LiegroupSpacePtr_t	outputSpace () const
	Get output element. More...

size_type	outputSize () const
	Get dimension of output vector. More...

size_type	outputDerivativeSize () const
	Get dimension of output derivative vector. More...

const std::string &	name () const
	Get function name. More...

virtual std::ostream &	print (std::ostream &o) const
	Display object in a stream. More...

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
	Approximate the jacobian using forward finite difference. More...

void	finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
	Approximate the jacobian using forward finite difference. More...

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

Additional Inherited Members
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. More...

	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
	Concrete class constructor should call this constructor. More...

virtual void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0
	User implementation of function evaluation. More...

virtual void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0

Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type	inputSize_
	Dimension of input vector. More...

size_type	inputDerivativeSize_
	Dimension of input derivative. More...

LiegroupSpacePtr_t	outputSpace_
	Dimension of output vector. More...

ArrayXb	activeParameters_
	Initialized to true by this class. More...

ArrayXb	activeDerivativeParameters_
	Initialized to true by this class. More...

Member Typedef Documentation

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

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

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

Constructor & Destructor Documentation

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

Constructor.

Parameters

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

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

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

static

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

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

static

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

inline

Member Data Documentation

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

static

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation