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@@ -92,43 +100,43 @@
29 if(type != NO_ACTIVATION && (threshold < 0 || threshold > 1))
30 throw std::invalid_argument("ActivationFunction::compute: Threshold must be within [0..1]");
31
-
32 activation.resize(values.size());
+
32 activation.resize(values.size());
33 activation.setZero();
34
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35 for(uint i = 0; i < values.size(); i++){
+
35 for(uint i = 0; i < values.size(); i++){
36 switch(type){
37 case NO_ACTIVATION:
-
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+
38 activation(i) = 1;
39 break;
40 case STEP_ACTIVATION:
-
41 if(fabs(values(i)) > threshold)
-
42 activation(i) = 1;
+
41 if(fabs(values(i)) > threshold)
+
42 activation(i) = 1;
43 else
-
44 activation(i) = 0;
+
44 activation(i) = 0;
45 break;
46 case LINEAR_ACTIVATION:
-
47 if(values(i) < threshold)
-
48 activation(i) = (1.0/threshold) * values(i);
+
47 if(values(i) < threshold)
+
48 activation(i) = (1.0/threshold) * values(i);
49 else
-
50 activation(i) = 1;
+
50 activation(i) = 1;
51 break;
52 case QUADRATIC_ACTIVATION:
-
53 if(values(i) < threshold)
-
54 activation(i) = (1.0/(threshold*threshold)) * (values(i)*values(i));
+
53 if(values(i) < threshold)
+
54 activation(i) = (1.0/(threshold*threshold)) * (values(i)*values(i));
55 else
-
56 activation(i) = 1;
+
56 activation(i) = 1;
57 break;
58 case PROPORTIONAL_ACTIVATION:
-
59 if(values(i) < threshold)
-
60 activation(i) = values(i);
+
59 if(values(i) < threshold)
+
60 activation(i) = values(i);
61 else
-
62 activation(i) = 1;
+
62 activation(i) = 1;
63
64 break;
65 default:{
-
66 std::stringstream s;
-
67 s << "Invalid activation type: " << type;
-
68 throw std::invalid_argument(s.str());
+
66 std::stringstream s;
+
67 s << "Invalid activation type: " << type;
+
68 throw std::invalid_argument(s.str());
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+
KinematicChainKDL.hpp
@@ -162,7 +170,8 @@
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+ diff --git a/OsqpSolver_8cpp.html b/OsqpSolver_8cpp.html new file mode 100644 index 00000000..b7a544ee --- /dev/null +++ b/OsqpSolver_8cpp.html @@ -0,0 +1,87 @@ + + + + + + + +wbc: src/solvers/osqp/OsqpSolver.cpp File Reference + + + + + + + + + + + +
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wbc +
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+
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+
OsqpSolver.cpp File Reference
+
+
+
#include "OsqpSolver.hpp"
+#include "../../core/QuadraticProgram.hpp"
+
+ + + +

+Namespaces

namespace  wbc
 
+
+ +
+Generated by doxygen 1.11.0 +
+
+ + diff --git a/OsqpSolver_8hpp.html b/OsqpSolver_8hpp.html new file mode 100644 index 00000000..02c3125f --- /dev/null +++ b/OsqpSolver_8hpp.html @@ -0,0 +1,97 @@ + + + + + + + +wbc: src/solvers/osqp/OsqpSolver.hpp File Reference + + + + + + + + + + + +
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wbc +
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+Classes | +Namespaces
+
OsqpSolver.hpp File Reference
+
+
+
#include <Eigen/Sparse>
+#include <OsqpEigen/Solver.hpp>
+#include "../../core/QPSolver.hpp"
+#include "../../core/QuadraticProgram.hpp"
+
+

Go to the source code of this file.

+ + + + +

+Classes

class  wbc::OsqpSolver
 
+ + + +

+Namespaces

namespace  wbc
 
+
+ +
+Generated by doxygen 1.11.0 +
+
+ + diff --git a/OsqpSolver_8hpp_source.html b/OsqpSolver_8hpp_source.html new file mode 100644 index 00000000..b8e639b2 --- /dev/null +++ b/OsqpSolver_8hpp_source.html @@ -0,0 +1,148 @@ + + + + + + + +wbc: src/solvers/osqp/OsqpSolver.hpp Source File + + + + + + + + + + + +
+
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+
wbc +
+
+
+ + + + + + + + + +
+
+
+
OsqpSolver.hpp
+
+
+Go to the documentation of this file.
1#ifndef WBC_OSQP_SOLVER_HPP
+
2#define WBC_OSQP_SOLVER_HPP
+
3
+
4#include <Eigen/Sparse>
+
5#include <OsqpEigen/Solver.hpp>
+
6#include "../../core/QPSolver.hpp"
+
7#include "../../core/QuadraticProgram.hpp"
+
8
+
9namespace wbc {
+
10
+
+
11class OsqpSolver : public QPSolver{
+
12public:
+
13 OsqpSolver();
+
14 ~OsqpSolver();
+
15
+
16 virtual void solve(const HierarchicalQP& hierarchical_qp, base::VectorXd& solver_output);
+
17
+
18protected:
+
19 bool configured;
+
20 OsqpEigen::Solver solver;
+
21
+
22 Eigen::MatrixXd hessian_dense;
+
23 Eigen::SparseMatrix<double> hessian_sparse;
+
24 Eigen::MatrixXd constraint_mat_dense;
+
25 Eigen::SparseMatrix<double> constraint_mat_sparse;
+
26 Eigen::VectorXd gradient;
+
27 Eigen::VectorXd lower_bound;
+
28 Eigen::VectorXd upper_bound;
+
29
+
30 void resetData(uint nq, uint nc);
+
+
31 std::string exitFlagToString(OsqpEigen::ErrorExitFlag flag){
+
32 switch(flag){
+
33 case OsqpEigen::ErrorExitFlag::DataValidationError: return "DataValidationError";
+
34 case OsqpEigen::ErrorExitFlag::SettingsValidationError: return "SettingsValidationError";
+
35 case OsqpEigen::ErrorExitFlag::LinsysSolverLoadError: return "LinsysSolverLoadError";
+
36 case OsqpEigen::ErrorExitFlag::LinsysSolverInitError: return "LinsysSolverInitError";
+
37 case OsqpEigen::ErrorExitFlag::NonCvxError: return "NonCvxError";
+
38 case OsqpEigen::ErrorExitFlag::MemAllocError: return "MemAllocError";
+
39 case OsqpEigen::ErrorExitFlag::WorkspaceNotInitError: return "WorkspaceNotInitError";
+
40 default: return "NoError";
+
41 }
+
42 }
+
+
43};
+
+
44
+
45}
+
46
+
47#endif
+ + +
wbc::OsqpSolver
Definition OsqpSolver.hpp:11
+
wbc::OsqpSolver::OsqpSolver
OsqpSolver()
Definition OsqpSolver.cpp:6
+
wbc::OsqpSolver::solve
virtual void solve(const HierarchicalQP &hierarchical_qp, base::VectorXd &solver_output)
solve Solve the given quadratic program
Definition OsqpSolver.cpp:12
+
wbc::OsqpSolver::resetData
void resetData(uint nq, uint nc)
+
wbc::OsqpSolver::upper_bound
Eigen::VectorXd upper_bound
Definition OsqpSolver.hpp:28
+
wbc::OsqpSolver::exitFlagToString
std::string exitFlagToString(OsqpEigen::ErrorExitFlag flag)
Definition OsqpSolver.hpp:31
+
wbc::OsqpSolver::constraint_mat_dense
Eigen::MatrixXd constraint_mat_dense
Definition OsqpSolver.hpp:24
+
wbc::OsqpSolver::gradient
Eigen::VectorXd gradient
Definition OsqpSolver.hpp:26
+
wbc::OsqpSolver::hessian_dense
Eigen::MatrixXd hessian_dense
Definition OsqpSolver.hpp:22
+
wbc::OsqpSolver::solver
OsqpEigen::Solver solver
Definition OsqpSolver.hpp:20
+
wbc::OsqpSolver::~OsqpSolver
~OsqpSolver()
Definition OsqpSolver.cpp:9
+
wbc::OsqpSolver::hessian_sparse
Eigen::SparseMatrix< double > hessian_sparse
Definition OsqpSolver.hpp:23
+
wbc::OsqpSolver::configured
bool configured
Definition OsqpSolver.hpp:19
+
wbc::OsqpSolver::constraint_mat_sparse
Eigen::SparseMatrix< double > constraint_mat_sparse
Definition OsqpSolver.hpp:25
+
wbc::OsqpSolver::lower_bound
Eigen::VectorXd lower_bound
Definition OsqpSolver.hpp:27
+
wbc::QPSolver
Definition QPSolver.hpp:14
+
wbc
Definition ContactsAccelerationConstraint.cpp:3
+
wbc::HierarchicalQP
Describes a hierarchy of quadratic programs.
Definition QuadraticProgram.hpp:57
+
+ +
+Generated by doxygen 1.11.0 +
+
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Namespaces
@@ -60,13 +73,14 @@
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namespace  wbc
 
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PIDController.hpp
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PIDCtrlParams.hpp
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PlanarPotentialField.cpp File Reference
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PlanarPotentialField.hpp
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PluginLoader.hpp
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PosPDController.hpp
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PotentialFieldInfo.hpp
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PotentialField.hpp
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PotentialFieldsController.cpp File Reference
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namespace  qpOASES
 
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@@ -95,7 +108,8 @@
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
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QPSolver.hpp
@@ -91,7 +99,7 @@
34
35struct QPSolverFactory{
-
36 typedef std::map<std::string, QPSolver*(*)()> QPSolverMap;
+
36 typedef std::map<std::string, QPSolver*(*)()> QPSolverMap;
37
38 static QPSolver *createInstance(const std::string& name) {
@@ -112,9 +120,9 @@
51
-
52 static QPSolverMap *getQPSolverMap(){
+
52 static QPSolverMap *getQPSolverMap(){
53 if(!qp_solver_map)
-
54 qp_solver_map = new QPSolverMap;
+
54 qp_solver_map = new QPSolverMap;
55 return qp_solver_map;
56 }
@@ -126,7 +134,7 @@
61
62private:
-
63 static QPSolverMap *qp_solver_map;
+
63 static QPSolverMap *qp_solver_map;
64};
65
@@ -138,7 +146,7 @@
69 QPSolverMap::iterator it = getQPSolverMap()->find(name);
70 if(it != getQPSolverMap()->end())
71 throw std::runtime_error("Failed to register plugin with name " + name + ". A plugin with the same name is already registered");
-
72 getQPSolverMap()->insert(std::make_pair(name, &createT<T>));
+
72 getQPSolverMap()->insert(std::make_pair(name, &createT<T>));
73 }
74};
@@ -158,7 +166,7 @@
wbc::QPSolverPtr
std::shared_ptr< QPSolver > QPSolverPtr
Definition QPSolver.hpp:31
wbc::HierarchicalQP
Describes a hierarchy of quadratic programs.
Definition QuadraticProgram.hpp:57
wbc::QPSolverFactory
Definition QPSolver.hpp:35
-
wbc::QPSolverFactory::QPSolverMap
std::map< std::string, QPSolver *(*)() QPSolverMap)
Definition QPSolver.hpp:36
+
wbc::QPSolverFactory::QPSolverMap
std::map< std::string, QPSolver *(*)()> QPSolverMap
Definition QPSolver.hpp:36
wbc::QPSolverFactory::createInstance
static T * createInstance(const std::string &name)
Definition QPSolver.hpp:46
wbc::QPSolverFactory::getQPSolverMap
static QPSolverMap * getQPSolverMap()
Definition QPSolver.hpp:52
wbc::QPSolverFactory::clear
static void clear()
Definition QPSolver.hpp:58
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207
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210
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224
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237
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wbc::RobotModelFactory
Definition RobotModel.hpp:208
wbc::RobotModelFactory::createInstance
static T * createInstance(const std::string &name)
Definition RobotModel.hpp:219
wbc::RobotModelFactory::createInstance
static RobotModel * createInstance(const std::string &name)
Definition RobotModel.hpp:211
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wbc::RobotModelFactory::RobotModelMap
std::map< std::string, RobotModel *(*)() RobotModelMap)
Definition RobotModel.hpp:209
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std::map< std::string, RobotModel *(*)()> RobotModelMap
Definition RobotModel.hpp:209
wbc::RobotModelFactory::getRobotModelMap
static RobotModelMap * getRobotModelMap()
Definition RobotModel.hpp:225
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Definition RobotModel.hpp:231
wbc::RobotModelRegistry
Definition RobotModel.hpp:239
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174
175struct SceneFactory{
-
176 typedef std::map<std::string, Scene*(*)(RobotModelPtr, QPSolverPtr, double)> SceneMap;
+
176 typedef std::map<std::string, Scene*(*)(RobotModelPtr, QPSolverPtr, double)> SceneMap;
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@@ -169,9 +177,9 @@
191
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201
202private:
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203 static SceneMap *scene_map;
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203 static SceneMap *scene_map;
204};
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210 if(it != getSceneMap()->end())
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212
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Definition QuadraticProgram.hpp:57
wbc::SceneFactory
Definition Scene.hpp:175
wbc::SceneFactory::getSceneMap
static SceneMap * getSceneMap()
Definition Scene.hpp:192
+
wbc::SceneFactory::SceneMap
std::map< std::string, Scene *(*)(RobotModelPtr, QPSolverPtr, double)> SceneMap
Definition Scene.hpp:176
wbc::SceneFactory::createInstance
static T * createInstance(const std::string &name, RobotModelPtr robot_model, QPSolverPtr solver, const double dt)
Definition Scene.hpp:186
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wbc::SceneFactory::SceneMap
std::map< std::string, Scene *(*)(RobotModelPtr, QPSolverPtr, double) SceneMap)
Definition Scene.hpp:176
wbc::SceneFactory::createInstance
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Definition Scene.hpp:178
wbc::SceneFactory::clear
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Definition Scene.hpp:198
wbc::SceneRegistry
Definition Scene.hpp:207
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Classes | @@ -70,13 +83,14 @@

- +

Namespaces

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TaskStatus.hpp
@@ -114,7 +122,8 @@
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Namespaces
@@ -62,13 +75,14 @@
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Namespaces

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-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+ diff --git a/Task_8hpp.html b/Task_8hpp.html index 115b7a8a..54023388 100644 --- a/Task_8hpp.html +++ b/Task_8hpp.html @@ -3,13 +3,15 @@ - + wbc: src/core/Task.hpp File Reference + + + +
Classes | @@ -75,7 +88,7 @@

- +

Namespaces

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namespace  wbc
 

@@ -86,7 +99,8 @@
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Task.hpp
@@ -145,7 +153,8 @@
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Namespaces
@@ -64,13 +77,14 @@
- +

Namespaces

namespace  wbc
namespace  wbc
 
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+ diff --git a/URDFTools_8hpp.html b/URDFTools_8hpp.html index ea2cc578..99797777 100644 --- a/URDFTools_8hpp.html +++ b/URDFTools_8hpp.html @@ -3,13 +3,15 @@ - + wbc: src/tools/URDFTools.hpp File Reference + + + +
Classes | @@ -70,15 +83,16 @@

- + - +

Namespaces

namespace  base
namespace  base
 
namespace  wbc
namespace  wbc
 
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+
diff --git a/URDFTools_8hpp_source.html b/URDFTools_8hpp_source.html index eef49e2b..b522ee39 100644 --- a/URDFTools_8hpp_source.html +++ b/URDFTools_8hpp_source.html @@ -3,13 +3,15 @@ - + wbc: src/tools/URDFTools.hpp Source File + + +
URDFTools.hpp
@@ -113,7 +121,8 @@
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+ diff --git a/VelocitySceneQP_8cpp.html b/VelocitySceneQP_8cpp.html index 3681b807..2f8a91cd 100644 --- a/VelocitySceneQP_8cpp.html +++ b/VelocitySceneQP_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/scenes/velocity_qp/VelocitySceneQP.cpp File Reference + + + +
Namespaces
@@ -67,13 +80,14 @@
- +

Namespaces

namespace  wbc
namespace  wbc
 
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+ diff --git a/VelocitySceneQP_8hpp.html b/VelocitySceneQP_8hpp.html index 7e0c2b16..7c79984c 100644 --- a/VelocitySceneQP_8hpp.html +++ b/VelocitySceneQP_8hpp.html @@ -3,13 +3,15 @@ - + wbc: src/scenes/velocity_qp/VelocitySceneQP.hpp File Reference + + + +
Classes | @@ -69,13 +82,14 @@ - +

Namespaces

namespace  wbc
namespace  wbc
 
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+
diff --git a/VelocitySceneQP_8hpp_source.html b/VelocitySceneQP_8hpp_source.html index 0e1080ca..7b58d08d 100644 --- a/VelocitySceneQP_8hpp_source.html +++ b/VelocitySceneQP_8hpp_source.html @@ -3,13 +3,15 @@ - + wbc: src/scenes/velocity_qp/VelocitySceneQP.hpp Source File + +
+
VelocitySceneQP.hpp
@@ -114,7 +122,8 @@
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+ diff --git a/VelocityScene_8cpp.html b/VelocityScene_8cpp.html index ff407eb8..c9ee384f 100644 --- a/VelocityScene_8cpp.html +++ b/VelocityScene_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/scenes/velocity/VelocityScene.cpp File Reference + + + +
Namespaces
@@ -65,13 +78,14 @@
- +

Namespaces

namespace  wbc
namespace  wbc
 
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+ diff --git a/VelocityScene_8hpp.html b/VelocityScene_8hpp.html index 344e2a90..0cd22ca1 100644 --- a/VelocityScene_8hpp.html +++ b/VelocityScene_8hpp.html @@ -3,13 +3,15 @@ - + wbc: src/scenes/velocity/VelocityScene.hpp File Reference + + + +
Classes | @@ -69,13 +82,14 @@ - +

Namespaces

namespace  wbc
namespace  wbc
 
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+
diff --git a/VelocityScene_8hpp_source.html b/VelocityScene_8hpp_source.html index 68479230..0e6c5c54 100644 --- a/VelocityScene_8hpp_source.html +++ b/VelocityScene_8hpp_source.html @@ -3,13 +3,15 @@ - + wbc: src/scenes/velocity/VelocityScene.hpp Source File + +
+
VelocityScene.hpp
@@ -120,7 +128,8 @@
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+ diff --git a/annotated.html b/annotated.html index 793c559d..88b64e3c 100644 --- a/annotated.html +++ b/annotated.html @@ -3,13 +3,15 @@ - + wbc: Class List + + +
+
Class List
@@ -88,49 +101,51 @@  CJointVelocityTaskImplementation of a Joint velocity task  CJointWeights  CKinematicChainKDLHelper class for storing information of a KDL chain in the robot model - CPIDControllerImplements an n-dimensional PID controller - CPIDCtrlParams - CPlanarPotentialFieldPlanar Potential field. The gradient will be constant on planes parallel to the plane defined by x0 (origin) and n (surface normal) - CPluginLoader - CPosPDControllerImplements the following two control scemes - CPotentialFieldBase class for potential fields - CPotentialFieldInfo - CPotentialFieldsControllerBase class for potential field controllers - CProxQPSolverWrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape: - CQPOASESSolverWrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape: - CQPSolver - CQPSolverConfig - CQPSolverFactory - CQPSolverRegistry - CQPSwiftSolver - CQuadraticProgramDescribes a quadratic program of the form - CRadialPotentialFieldRadial Potential field. The computed gradient will be constant on volumnes with constant radius around the center of the potential field: - CRigidbodyDynamicsConstraintAbstract class to represent a generic hard constraint for a WBC optimization problem - CRobotModelInterface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC - CRobotModelConfigRobot Model configuration class - CRobotModelFactory - CRobotModelHyrodyn - CRobotModelKDLThis model describes the kinemetic relationships required for velocity based wbc. It is based on a single KDL Tree. However, multiple KDL trees can be added and will be appropriately concatenated. This way you can describe e.g. geometric robot-object relationships or create multi-robot scenarios - CRobotModelPinocchio - CRobotModelRBDL - CRobotModelRegistry - CSceneBase class for all wbc scenes - CSceneConfig - CSceneFactory - CSceneRegistry - CTaskAbstract class to represent a generic task for a WBC optimization problem - CTaskConfigDefines a task in the whole body control problem. Valid Configurations are e.g - CTasksStatus - CTaskStatus - CURDFTools - CVelocitySceneVelocity-based implementation of the WBC Scene. It sets up and solves the following problem: - CVelocitySceneQPVelocity-based implementation of the WBC Scene. It sets up and solves the following problem: + COsqpSolver + CPIDControllerImplements an n-dimensional PID controller + CPIDCtrlParams + CPlanarPotentialFieldPlanar Potential field. The gradient will be constant on planes parallel to the plane defined by x0 (origin) and n (surface normal) + CPluginLoader + CPosPDControllerImplements the following two control scemes + CPotentialFieldBase class for potential fields + CPotentialFieldInfo + CPotentialFieldsControllerBase class for potential field controllers + CProxQPSolverWrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape: + CQPOASESSolverWrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape: + CQPSolver + CQPSolverConfig + CQPSolverFactory + CQPSolverRegistry + CQPSwiftSolver + CQuadraticProgramDescribes a quadratic program of the form + CRadialPotentialFieldRadial Potential field. The computed gradient will be constant on volumnes with constant radius around the center of the potential field: + CRigidbodyDynamicsConstraintAbstract class to represent a generic hard constraint for a WBC optimization problem + CRobotModelInterface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC + CRobotModelConfigRobot Model configuration class + CRobotModelFactory + CRobotModelHyrodyn + CRobotModelKDLThis model describes the kinemetic relationships required for velocity based wbc. It is based on a single KDL Tree. However, multiple KDL trees can be added and will be appropriately concatenated. This way you can describe e.g. geometric robot-object relationships or create multi-robot scenarios + CRobotModelPinocchio + CRobotModelRBDL + CRobotModelRegistry + CSceneBase class for all wbc scenes + CSceneConfig + CSceneFactory + CSceneRegistry + CTaskAbstract class to represent a generic task for a WBC optimization problem + CTaskConfigDefines a task in the whole body control problem. Valid Configurations are e.g + CTasksStatus + CTaskStatus + CURDFTools + CVelocitySceneVelocity-based implementation of the WBC Scene. It sets up and solves the following problem: + CVelocitySceneQPVelocity-based implementation of the WBC Scene. It sets up and solves the following problem:
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+ diff --git a/cart__pos__ctrl__dynamic_8cpp.html b/cart__pos__ctrl__dynamic_8cpp.html index c0a23a85..c053a1e3 100644 --- a/cart__pos__ctrl__dynamic_8cpp.html +++ b/cart__pos__ctrl__dynamic_8cpp.html @@ -3,13 +3,15 @@ - + wbc: tutorials/kuka_iiwa/cart_pos_ctrl_dynamic.cpp File Reference + + + +
Functions
@@ -78,12 +91,12 @@

int main ( - ) + )

-

Acceleration-based example, Cartesian position control of the KUKA iiwa robot (fixed base, no contacts). In the example the following problem is solved:

+

Acceleration-based example, Cartesian position control of the KUKA iiwa robot (fixed base, no contacts). In the example the following problem is solved:

\[ \begin{array}{ccc} minimize & \| \mathbf{J}\ddot{\mathbf{q}} - \dot{\mathbf{v}}_d + \dot{\mathbf{J}}\dot{\mathbf{q}}\|_2\\ @@ -93,7 +106,7 @@

+

where

\[ \dot{\mathbf{v}}_d = \dot{\mathbf{v}}_r + \mathbf{K}_d(\mathbf{v}_r-\mathbf{v}) + \mathbf{K}_p(\mathbf{x}_r-\mathbf{x}) \] @@ -117,7 +130,8 @@

-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+

diff --git a/cart__pos__ctrl__hls_8cpp.html b/cart__pos__ctrl__hls_8cpp.html index 4e867641..ea0035ef 100644 --- a/cart__pos__ctrl__hls_8cpp.html +++ b/cart__pos__ctrl__hls_8cpp.html @@ -3,13 +3,15 @@ - + wbc: tutorials/kuka_iiwa/cart_pos_ctrl_hls.cpp File Reference + + +
+
Functions
@@ -78,12 +91,12 @@

int main ( - ) + )

-

Simple Velocity-based example, Cartesian position control on a kuka iiwa 7 dof arm. The solution is computed using the hierarchical least squares solver (hls), which provides an analytical solution. In the example the following problem is solved:

+

Simple Velocity-based example, Cartesian position control on a kuka iiwa 7 dof arm. The solution is computed using the hierarchical least squares solver (hls), which provides an analytical solution. In the example the following problem is solved:

\[ \begin{array}{ccc} minimize & \| \dot{\mathbf{q}} \|_2& \\ @@ -92,7 +105,7 @@

+

where

\[ \mathbf{v}_d = \mathbf{K}_p(\mathbf{x}_r-\mathbf{x}) \] @@ -111,7 +124,8 @@

-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+

diff --git a/cart__pos__ctrl__hls__hierarchies_8cpp.html b/cart__pos__ctrl__hls__hierarchies_8cpp.html index 452c984b..609d5769 100644 --- a/cart__pos__ctrl__hls__hierarchies_8cpp.html +++ b/cart__pos__ctrl__hls__hierarchies_8cpp.html @@ -3,13 +3,15 @@ - + wbc: tutorials/kuka_iiwa/cart_pos_ctrl_hls_hierarchies.cpp File Reference + + +
+
Functions
@@ -79,7 +92,7 @@

int main ( - int argc, + int argc, @@ -95,7 +108,8 @@

-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+

diff --git a/cart__pos__ctrl__hls__weights_8cpp.html b/cart__pos__ctrl__hls__weights_8cpp.html index 85525435..6ebf3364 100644 --- a/cart__pos__ctrl__hls__weights_8cpp.html +++ b/cart__pos__ctrl__hls__weights_8cpp.html @@ -3,13 +3,15 @@ - + wbc: tutorials/kuka_iiwa/cart_pos_ctrl_hls_weights.cpp File Reference + + +
+
Functions
@@ -78,7 +91,7 @@

int main ( - ) + ) @@ -90,7 +103,8 @@

-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+

diff --git a/cart__pos__ctrl__qpoases_8cpp.html b/cart__pos__ctrl__qpoases_8cpp.html index bce7e428..03ec52bc 100644 --- a/cart__pos__ctrl__qpoases_8cpp.html +++ b/cart__pos__ctrl__qpoases_8cpp.html @@ -3,13 +3,15 @@ - + wbc: tutorials/kuka_iiwa/cart_pos_ctrl_qpoases.cpp File Reference + + +
+
Functions
@@ -79,12 +92,12 @@

int main ( - ) + )

-

Simple Velocity-based example, Cartesian position control on a kuka iiwa 7 dof arm. In contrast to the cart_pos_ctrl_hls example, a QP solver (qpoases) is used to compute the solution. In the example the following problem is solved:

+

Simple Velocity-based example, Cartesian position control on a kuka iiwa 7 dof arm. In contrast to the cart_pos_ctrl_hls example, a QP solver (qpoases) is used to compute the solution. In the example the following problem is solved:

\[ \begin{array}{ccc} minimize & \| \mathbf{J_w\dot{q}}-\mathbf{v}_{d} \|_2& \\ @@ -93,7 +106,7 @@

+

where

\[ \mathbf{v}_d = \mathbf{K}_p(\mathbf{x}_r-\mathbf{x}) \] @@ -113,7 +126,8 @@

-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+

diff --git a/classes.html b/classes.html index 7b252876..97823fd9 100644 --- a/classes.html +++ b/classes.html @@ -3,13 +3,15 @@ - + wbc: Class Index + +
+
+
Class Index
-
A | C | E | H | J | K | P | Q | R | S | T | U | V
+
A | C | E | H | J | K | O | P | Q | R | S | T | U | V
A
@@ -71,31 +84,35 @@
K
KinematicChainKDL (wbc)
+
O
+
OsqpSolver (wbc)
+
P
PIDController (wbc)
PIDCtrlParams (wbc)
PlanarPotentialField (wbc)
PluginLoader (wbc)
PosPDController (wbc)
PotentialField (wbc)
PotentialFieldInfo (wbc)
PotentialFieldsController (wbc)
HierarchicalLSSolver::PriorityData (wbc)
ProxQPSolver (wbc)
-
+
Q
QPOASESSolver (wbc)
QPSolver (wbc)
QPSolverConfig (wbc)
QPSolverFactory (wbc)
QPSolverRegistry (wbc)
QPSwiftSolver (wbc)
QuadraticProgram (wbc)
-
+
R
RadialPotentialField (wbc)
RigidbodyDynamicsConstraint (wbc)
RobotModel (wbc)
RobotModelConfig (wbc)
RobotModelFactory (wbc)
RobotModelHyrodyn (wbc)
RobotModelKDL (wbc)
RobotModelPinocchio (wbc)
RobotModelRBDL (wbc)
RobotModelRegistry (wbc)
-
+
S
Scene (wbc)
SceneConfig (wbc)
SceneFactory (wbc)
SceneRegistry (wbc)
-
+
T
Task (wbc)
TaskConfig (wbc)
TasksStatus (wbc)
TaskStatus (wbc)
-
+
U
URDFTools (wbc)
-
+
V
VelocityScene (wbc)
VelocitySceneQP (wbc)
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+
diff --git a/classwbc_1_1AccelerationScene-members.html b/classwbc_1_1AccelerationScene-members.html index 880564fc..bd0fc79f 100644 --- a/classwbc_1_1AccelerationScene-members.html +++ b/classwbc_1_1AccelerationScene-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + + +
wbc::AccelerationScene Member List
@@ -105,7 +118,8 @@
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+ diff --git a/classwbc_1_1AccelerationScene.html b/classwbc_1_1AccelerationScene.html index 3c0648b9..22bd5c64 100644 --- a/classwbc_1_1AccelerationScene.html +++ b/classwbc_1_1AccelerationScene.html @@ -3,13 +3,15 @@ - + wbc: wbc::AccelerationScene Class Reference + + + +
Public Member Functions | @@ -236,12 +249,12 @@

wbc::AccelerationScene::AccelerationScene ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, - QPSolverPtr solver, + QPSolverPtr solver, @@ -265,7 +278,7 @@

virtual wbc::AccelerationScene::~AccelerationScene ( - ) + ) @@ -349,7 +362,7 @@

const HierarchicalQP & wbc::AccelerationScene::update ( - ) + ) @@ -384,7 +397,7 @@

const TasksStatus & wbc::AccelerationScene::updateTasksStatus ( - ) + ) @@ -475,7 +488,8 @@

-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+

diff --git a/classwbc_1_1AccelerationSceneReducedTSID-members.html b/classwbc_1_1AccelerationSceneReducedTSID-members.html index e917b9b5..48108a92 100644 --- a/classwbc_1_1AccelerationSceneReducedTSID-members.html +++ b/classwbc_1_1AccelerationSceneReducedTSID-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
+
wbc::AccelerationSceneReducedTSID Member List
@@ -111,7 +124,8 @@
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+
diff --git a/classwbc_1_1AccelerationSceneReducedTSID.html b/classwbc_1_1AccelerationSceneReducedTSID.html index dcaa57db..94c52e0a 100644 --- a/classwbc_1_1AccelerationSceneReducedTSID.html +++ b/classwbc_1_1AccelerationSceneReducedTSID.html @@ -3,13 +3,15 @@ - + wbc: wbc::AccelerationSceneReducedTSID Class Reference + + + +
Public Member Functions | @@ -263,12 +276,12 @@

wbc::AccelerationSceneReducedTSID::AccelerationSceneReducedTSID ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, - QPSolverPtr solver, + QPSolverPtr solver, @@ -292,7 +305,7 @@

virtual wbc::AccelerationSceneReducedTSID::~AccelerationSceneReducedTSID ( - ) + ) @@ -346,7 +359,7 @@

const base::samples::Wrenches & wbc::AccelerationSceneReducedTSID::getContactWrenches ( - ) + ) @@ -373,7 +386,7 @@

double wbc::AccelerationSceneReducedTSID::getHessianRegularizer ( - ) + ) @@ -400,7 +413,7 @@

const base::VectorXd & wbc::AccelerationSceneReducedTSID::getSolverOutputRaw ( - ) + ) const @@ -488,7 +501,7 @@

const HierarchicalQP & wbc::AccelerationSceneReducedTSID::update ( - ) + ) @@ -523,7 +536,7 @@

const TasksStatus & wbc::AccelerationSceneReducedTSID::updateTasksStatus ( - ) + ) @@ -680,7 +693,8 @@

-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+

diff --git a/classwbc_1_1AccelerationSceneTSID-members.html b/classwbc_1_1AccelerationSceneTSID-members.html index 94f46715..86079b5d 100644 --- a/classwbc_1_1AccelerationSceneTSID-members.html +++ b/classwbc_1_1AccelerationSceneTSID-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
+
wbc::AccelerationSceneTSID Member List
@@ -111,7 +124,8 @@
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+
diff --git a/classwbc_1_1AccelerationSceneTSID.html b/classwbc_1_1AccelerationSceneTSID.html index 87adfb77..b7fe23b0 100644 --- a/classwbc_1_1AccelerationSceneTSID.html +++ b/classwbc_1_1AccelerationSceneTSID.html @@ -3,13 +3,15 @@ - + wbc: wbc::AccelerationSceneTSID Class Reference + + + +
Public Member Functions | @@ -261,12 +274,12 @@

wbc::AccelerationSceneTSID::AccelerationSceneTSID ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, - QPSolverPtr solver, + QPSolverPtr solver, @@ -290,7 +303,7 @@

virtual wbc::AccelerationSceneTSID::~AccelerationSceneTSID ( - ) + ) @@ -344,7 +357,7 @@

const base::samples::Wrenches & wbc::AccelerationSceneTSID::getContactWrenches ( - ) + ) @@ -371,7 +384,7 @@

double wbc::AccelerationSceneTSID::getHessianRegularizer ( - ) + ) @@ -461,7 +474,7 @@

const HierarchicalQP & wbc::AccelerationSceneTSID::update ( - ) + ) @@ -496,7 +509,7 @@

const TasksStatus & wbc::AccelerationSceneTSID::updateTasksStatus ( - ) + ) @@ -653,7 +666,8 @@

-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+

diff --git a/classwbc_1_1ActiveContact-members.html b/classwbc_1_1ActiveContact-members.html index f1d6b517..64f193ea 100644 --- a/classwbc_1_1ActiveContact-members.html +++ b/classwbc_1_1ActiveContact-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
+
wbc::ActiveContact Member List
@@ -67,7 +80,8 @@
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+
diff --git a/classwbc_1_1ActiveContact.html b/classwbc_1_1ActiveContact.html index f86adbc3..e38a8c7a 100644 --- a/classwbc_1_1ActiveContact.html +++ b/classwbc_1_1ActiveContact.html @@ -3,13 +3,15 @@ - + wbc: wbc::ActiveContact Class Reference + + + +
Public Member Functions | @@ -94,7 +107,7 @@

wbc::ActiveContact::ActiveContact ( - ) + ) @@ -119,7 +132,7 @@

wbc::ActiveContact::ActiveContact ( - int active, + int active, @@ -148,17 +161,17 @@

wbc::ActiveContact::ActiveContact ( - int active, + int active, - double mu, + double mu, - double wx, + double wx, @@ -241,7 +254,8 @@

-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+

diff --git a/classwbc_1_1ActiveContacts-members.html b/classwbc_1_1ActiveContacts-members.html index a54e6cb1..370c38aa 100644 --- a/classwbc_1_1ActiveContacts-members.html +++ b/classwbc_1_1ActiveContacts-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
+
wbc::ActiveContacts Member List
@@ -61,7 +74,8 @@
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+
diff --git a/classwbc_1_1ActiveContacts.html b/classwbc_1_1ActiveContacts.html index 8792a541..b4124261 100644 --- a/classwbc_1_1ActiveContacts.html +++ b/classwbc_1_1ActiveContacts.html @@ -3,13 +3,15 @@ - + wbc: wbc::ActiveContacts Class Reference + + + +
Public Member Functions | @@ -84,7 +97,7 @@

uint wbc::ActiveContacts::getNumberOfActiveContacts ( - ) + ) const @@ -103,7 +116,8 @@

-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+

diff --git a/classwbc_1_1CartesianAccelerationTask-members.html b/classwbc_1_1CartesianAccelerationTask-members.html index d95f7b17..abf6e28b 100644 --- a/classwbc_1_1CartesianAccelerationTask-members.html +++ b/classwbc_1_1CartesianAccelerationTask-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
+
wbc::CartesianAccelerationTask Member List
@@ -83,7 +96,8 @@
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+
diff --git a/classwbc_1_1CartesianAccelerationTask.html b/classwbc_1_1CartesianAccelerationTask.html index ac5e6ac4..b65fd9e7 100644 --- a/classwbc_1_1CartesianAccelerationTask.html +++ b/classwbc_1_1CartesianAccelerationTask.html @@ -3,13 +3,15 @@ - + wbc: wbc::CartesianAccelerationTask Class Reference + + + +
Public Member Functions | @@ -148,7 +161,7 @@

wbc::CartesianAccelerationTask::CartesianAccelerationTask ( - TaskConfig config, + TaskConfig config, @@ -172,7 +185,7 @@

virtual wbc::CartesianAccelerationTask::~CartesianAccelerationTask ( - ) + ) @@ -263,7 +276,8 @@

-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+

diff --git a/classwbc_1_1CartesianForcePIDController-members.html b/classwbc_1_1CartesianForcePIDController-members.html index 30ef1697..9b918f39 100644 --- a/classwbc_1_1CartesianForcePIDController-members.html +++ b/classwbc_1_1CartesianForcePIDController-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
+
wbc::CartesianForcePIDController Member List
@@ -89,7 +102,8 @@
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+
diff --git a/classwbc_1_1CartesianForcePIDController.html b/classwbc_1_1CartesianForcePIDController.html index 2f05378e..10849e3e 100644 --- a/classwbc_1_1CartesianForcePIDController.html +++ b/classwbc_1_1CartesianForcePIDController.html @@ -3,13 +3,15 @@ - + wbc: wbc::CartesianForcePIDController Class Reference + + + +
Public Member Functions | @@ -155,7 +168,7 @@

wbc::CartesianForcePIDController::CartesianForcePIDController ( - ) + ) @@ -173,12 +186,12 @@

const base::samples::RigidBodyStateSE3 & wbc::CartesianForcePIDController::update ( - const base::samples::Wrench & setpoint, + const base::samples::Wrench & setpoint, - const base::samples::Wrench & feedback, + const base::samples::Wrench & feedback, @@ -203,7 +216,7 @@

const base::VectorXd wbc::CartesianForcePIDController::wrenchToRaw ( - const base::samples::Wrench & wrench, + const base::samples::Wrench & wrench, @@ -250,7 +263,8 @@

-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+

diff --git a/classwbc_1_1CartesianPosPDController-members.html b/classwbc_1_1CartesianPosPDController-members.html index 24a256ca..7d7eeda6 100644 --- a/classwbc_1_1CartesianPosPDController-members.html +++ b/classwbc_1_1CartesianPosPDController-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
+
wbc::CartesianPosPDController Member List
@@ -98,7 +111,8 @@
-Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
+
diff --git a/classwbc_1_1CartesianPosPDController.html b/classwbc_1_1CartesianPosPDController.html index 76342728..836e6303 100644 --- a/classwbc_1_1CartesianPosPDController.html +++ b/classwbc_1_1CartesianPosPDController.html @@ -3,13 +3,15 @@ - + wbc: wbc::CartesianPosPDController Class Reference + + + +
Public Member Functions | @@ -171,7 +184,7 @@
  • Velocity Output: \(\mathbf{v}_d = \mathbf{K}_d\mathbf{v}_r + \mathbf{K}_pe\)
  • Acceleration Output: \(\mathbf{a}_d = \mathbf{K}_{ff}\ddot{\mathbf{e}} + \mathbf{K}_d\dot{\mathbf{e}} + \mathbf{K}_p\mathbf{e}\),
    • -

    where pose, twist and accelerationerror are computed as \( +

    where pose, twist and accelerationerror are computed as \( \renewcommand*{\arraystretch}{1.2} \mathbf{e} = \left( \begin{array}{c} @@ -200,7 +213,7 @@

    wbc::CartesianPosPDController::CartesianPosPDController ( - ) + ) @@ -247,7 +260,7 @@

    void wbc::CartesianPosPDController::extractSetpoint ( - const base::samples::RigidBodyStateSE3 & setpoint, + const base::samples::RigidBodyStateSE3 & setpoint, @@ -273,7 +286,7 @@

    const base::samples::RigidBodyStateSE3 & wbc::CartesianPosPDController::update ( - const base::samples::RigidBodyStateSE3 & setpoint, + const base::samples::RigidBodyStateSE3 & setpoint, @@ -382,7 +395,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

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    +
    wbc::CartesianPotentialFieldsController Member List
    @@ -80,7 +93,8 @@
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    +
    diff --git a/classwbc_1_1CartesianPotentialFieldsController.html b/classwbc_1_1CartesianPotentialFieldsController.html index a5661bb1..9a22a051 100644 --- a/classwbc_1_1CartesianPotentialFieldsController.html +++ b/classwbc_1_1CartesianPotentialFieldsController.html @@ -3,13 +3,15 @@ - + wbc: wbc::CartesianPotentialFieldsController Class Reference + + + +
    Public Member Functions | @@ -135,7 +148,7 @@

    CartesianPotentialFieldsController::CartesianPotentialFieldsController ( - ) + ) @@ -194,7 +207,8 @@

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    +

    diff --git a/classwbc_1_1CartesianTask-members.html b/classwbc_1_1CartesianTask-members.html index 8bd0b877..ccd11459 100644 --- a/classwbc_1_1CartesianTask-members.html +++ b/classwbc_1_1CartesianTask-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::CartesianTask Member List
    @@ -81,7 +94,8 @@
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    diff --git a/classwbc_1_1CartesianTask.html b/classwbc_1_1CartesianTask.html index afc429c6..6ec10af2 100644 --- a/classwbc_1_1CartesianTask.html +++ b/classwbc_1_1CartesianTask.html @@ -3,13 +3,15 @@ - + wbc: wbc::CartesianTask Class Reference + + + +
    Public Member Functions | @@ -146,7 +159,7 @@

    wbc::CartesianTask::CartesianTask ( - const TaskConfig & _config, + const TaskConfig & _config, @@ -170,7 +183,7 @@

    wbc::CartesianTask::~CartesianTask ( - ) + ) @@ -220,7 +233,8 @@

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    +

    diff --git a/classwbc_1_1CartesianVelocityTask-members.html b/classwbc_1_1CartesianVelocityTask-members.html index ca643fb0..20e2dee5 100644 --- a/classwbc_1_1CartesianVelocityTask-members.html +++ b/classwbc_1_1CartesianVelocityTask-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::CartesianVelocityTask Member List
    @@ -83,7 +96,8 @@
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    diff --git a/classwbc_1_1CartesianVelocityTask.html b/classwbc_1_1CartesianVelocityTask.html index 1ecfe566..e33b1f47 100644 --- a/classwbc_1_1CartesianVelocityTask.html +++ b/classwbc_1_1CartesianVelocityTask.html @@ -3,13 +3,15 @@ - + wbc: wbc::CartesianVelocityTask Class Reference + + + +
    Public Member Functions | @@ -148,7 +161,7 @@

    wbc::CartesianVelocityTask::CartesianVelocityTask ( - TaskConfig config, + TaskConfig config, @@ -172,7 +185,7 @@

    virtual wbc::CartesianVelocityTask::~CartesianVelocityTask ( - ) + ) @@ -263,7 +276,8 @@

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    +

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    +
    wbc::CoMAccelerationTask Member List
    @@ -83,7 +96,8 @@
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    diff --git a/classwbc_1_1CoMAccelerationTask.html b/classwbc_1_1CoMAccelerationTask.html index 532f16aa..a6eda5a7 100644 --- a/classwbc_1_1CoMAccelerationTask.html +++ b/classwbc_1_1CoMAccelerationTask.html @@ -3,13 +3,15 @@ - + wbc: wbc::CoMAccelerationTask Class Reference + + + +
    Public Member Functions | @@ -148,7 +161,7 @@

    wbc::CoMAccelerationTask::CoMAccelerationTask ( - TaskConfig config, + TaskConfig config, @@ -172,7 +185,7 @@

    virtual wbc::CoMAccelerationTask::~CoMAccelerationTask ( - ) + ) @@ -257,7 +270,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

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    +
    wbc::CoMVelocityTask Member List
    @@ -83,7 +96,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1CoMVelocityTask.html b/classwbc_1_1CoMVelocityTask.html index 6652d0e7..e7fcda4c 100644 --- a/classwbc_1_1CoMVelocityTask.html +++ b/classwbc_1_1CoMVelocityTask.html @@ -3,13 +3,15 @@ - + wbc: wbc::CoMVelocityTask Class Reference + + + +
    Public Member Functions | @@ -148,7 +161,7 @@

    wbc::CoMVelocityTask::CoMVelocityTask ( - TaskConfig config, + TaskConfig config, @@ -172,7 +185,7 @@

    virtual wbc::CoMVelocityTask::~CoMVelocityTask ( - ) + ) @@ -257,7 +270,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

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    +
    wbc::Constraint Member List
    @@ -70,8 +83,8 @@ lb()wbc::Constraint lb_vecwbc::Constraintprotected size()wbc::Constraint - type()wbc::Constraint - Type enum namewbc::Constraint + Type enum namewbc::Constraint + type()wbc::Constraint ub()wbc::Constraint ub_vecwbc::Constraintprotected update(RobotModelPtr robot_model)=0wbc::Constraintpure virtual @@ -79,7 +92,8 @@
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    diff --git a/classwbc_1_1Constraint.html b/classwbc_1_1Constraint.html index a68cc2dd..76984271 100644 --- a/classwbc_1_1Constraint.html +++ b/classwbc_1_1Constraint.html @@ -3,13 +3,15 @@ - + wbc: wbc::Constraint Class Reference + + + +
    Public Types | @@ -173,7 +186,7 @@

    virtual wbc::Constraint::~Constraint ( - ) + ) @@ -198,7 +211,7 @@

    wbc::Constraint::Constraint ( - ) + ) @@ -250,7 +263,7 @@

    const base::MatrixXd & wbc::Constraint::A ( - ) + ) @@ -269,7 +282,7 @@

    const base::VectorXd & wbc::Constraint::b ( - ) + ) @@ -288,7 +301,7 @@

    const base::VectorXd & wbc::Constraint::lb ( - ) + ) @@ -307,7 +320,7 @@

    uint wbc::Constraint::size ( - ) + ) @@ -326,7 +339,7 @@

    Constraint::Type wbc::Constraint::type ( - ) + ) @@ -345,7 +358,7 @@

    const base::VectorXd & wbc::Constraint::ub ( - ) + ) @@ -506,7 +519,8 @@

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    +

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    +
    wbc::ContactsAccelerationConstraint Member List
    @@ -81,7 +94,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1ContactsAccelerationConstraint.html b/classwbc_1_1ContactsAccelerationConstraint.html index b776e261..c1513211 100644 --- a/classwbc_1_1ContactsAccelerationConstraint.html +++ b/classwbc_1_1ContactsAccelerationConstraint.html @@ -3,13 +3,15 @@ - + wbc: wbc::ContactsAccelerationConstraint Class Reference + + + +
    Public Member Functions | @@ -146,7 +159,7 @@

    wbc::ContactsAccelerationConstraint::ContactsAccelerationConstraint ( - bool _reduced = false) + bool _reduced = false) @@ -173,7 +186,7 @@

    virtual wbc::ContactsAccelerationConstraint::~ContactsAccelerationConstraint ( - ) + ) @@ -223,7 +236,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

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    +
    wbc::ContactsFrictionPointConstraint Member List
    @@ -81,7 +94,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1ContactsFrictionPointConstraint.html b/classwbc_1_1ContactsFrictionPointConstraint.html index 8ce6eb15..6d7ed05a 100644 --- a/classwbc_1_1ContactsFrictionPointConstraint.html +++ b/classwbc_1_1ContactsFrictionPointConstraint.html @@ -3,13 +3,15 @@ - + wbc: wbc::ContactsFrictionPointConstraint Class Reference + + + +
    Public Member Functions | @@ -141,7 +154,7 @@

    wbc::ContactsFrictionPointConstraint::ContactsFrictionPointConstraint ( - bool _reduced = false) + bool _reduced = false) @@ -168,7 +181,7 @@

    virtual wbc::ContactsFrictionPointConstraint::~ContactsFrictionPointConstraint ( - ) + ) @@ -218,7 +231,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

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    +
    wbc::ContactsFrictionSurfaceConstraint Member List
    @@ -81,7 +94,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1ContactsFrictionSurfaceConstraint.html b/classwbc_1_1ContactsFrictionSurfaceConstraint.html index cb0d7101..52d3b1df 100644 --- a/classwbc_1_1ContactsFrictionSurfaceConstraint.html +++ b/classwbc_1_1ContactsFrictionSurfaceConstraint.html @@ -3,13 +3,15 @@ - + wbc: wbc::ContactsFrictionSurfaceConstraint Class Reference + + + +
    Public Member Functions | @@ -141,7 +154,7 @@

    wbc::ContactsFrictionSurfaceConstraint::ContactsFrictionSurfaceConstraint ( - bool _reduced = false) + bool _reduced = false) @@ -168,7 +181,7 @@

    virtual wbc::ContactsFrictionSurfaceConstraint::~ContactsFrictionSurfaceConstraint ( - ) + ) @@ -218,7 +231,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1ContactsVelocityConstraint-members.html b/classwbc_1_1ContactsVelocityConstraint-members.html index e8d60ed9..4405cb78 100644 --- a/classwbc_1_1ContactsVelocityConstraint-members.html +++ b/classwbc_1_1ContactsVelocityConstraint-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::ContactsVelocityConstraint Member List
    @@ -71,8 +84,8 @@ lb()wbc::Constraint lb_vecwbc::Constraintprotected size()wbc::Constraint - type()wbc::Constraint - Type enum namewbc::Constraint + Type enum namewbc::Constraint + type()wbc::Constraint ub()wbc::Constraint ub_vecwbc::Constraintprotected update(RobotModelPtr robot_model) overridewbc::ContactsVelocityConstraintvirtual @@ -81,7 +94,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
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    Public Member Functions | @@ -146,7 +159,7 @@

    wbc::ContactsVelocityConstraint::ContactsVelocityConstraint ( - ) + ) @@ -173,7 +186,7 @@

    virtual wbc::ContactsVelocityConstraint::~ContactsVelocityConstraint ( - ) + ) @@ -223,7 +236,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
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    +
    wbc::EffortLimitsAccelerationConstraint Member List
    @@ -71,8 +84,8 @@ lb()wbc::Constraint lb_vecwbc::Constraintprotected size()wbc::Constraint - type()wbc::Constraint - Type enum namewbc::Constraint + Type enum namewbc::Constraint + type()wbc::Constraint ub()wbc::Constraint ub_vecwbc::Constraintprotected update(RobotModelPtr robot_model) overridewbc::EffortLimitsAccelerationConstraintvirtual @@ -81,7 +94,8 @@
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    Public Member Functions | @@ -146,7 +159,7 @@

    wbc::EffortLimitsAccelerationConstraint::EffortLimitsAccelerationConstraint ( - ) + ) @@ -173,7 +186,7 @@

    virtual wbc::EffortLimitsAccelerationConstraint::~EffortLimitsAccelerationConstraint ( - ) + ) @@ -224,7 +237,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
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    +
    wbc::EiquadprogSolver Member List
    @@ -75,7 +88,8 @@
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    Public Member Functions | @@ -135,7 +148,7 @@

    wbc::EiquadprogSolver::EiquadprogSolver ( - ) + ) @@ -155,7 +168,7 @@

    wbc::EiquadprogSolver::~EiquadprogSolver ( - ) + ) @@ -181,7 +194,7 @@

    uint wbc::EiquadprogSolver::getMaxNIter ( - ) + ) @@ -207,7 +220,7 @@

    int wbc::EiquadprogSolver::getNter ( - ) + ) @@ -259,7 +272,7 @@

    void wbc::EiquadprogSolver::solve ( - const wbc::HierarchicalQP & hierarchical_qp, + const wbc::HierarchicalQP & hierarchical_qp, @@ -405,7 +418,8 @@

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    double wbc::HierarchicalLSSolver::getMaxSolverOutputNorm ( - ) + ) @@ -283,7 +296,7 @@

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    Public Member Functions | @@ -115,7 +128,7 @@

    wbc::HierarchicalLSSolver::PriorityData::PriorityData ( - ) + ) @@ -140,7 +153,7 @@

    wbc::HierarchicalLSSolver::PriorityData::PriorityData ( - const unsigned int _n_constraint_variables, + const unsigned int _n_constraint_variables, @@ -358,7 +371,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1JointAccelerationTask-members.html b/classwbc_1_1JointAccelerationTask-members.html index c509c97a..949a667b 100644 --- a/classwbc_1_1JointAccelerationTask-members.html +++ b/classwbc_1_1JointAccelerationTask-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::JointAccelerationTask Member List
    @@ -83,7 +96,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1JointAccelerationTask.html b/classwbc_1_1JointAccelerationTask.html index c5850b0d..77d4f4e8 100644 --- a/classwbc_1_1JointAccelerationTask.html +++ b/classwbc_1_1JointAccelerationTask.html @@ -3,13 +3,15 @@ - + wbc: wbc::JointAccelerationTask Class Reference + + + +
    Public Member Functions | @@ -148,7 +161,7 @@

    wbc::JointAccelerationTask::JointAccelerationTask ( - TaskConfig config, + TaskConfig config, @@ -172,7 +185,7 @@

    virtual wbc::JointAccelerationTask::~JointAccelerationTask ( - ) + ) @@ -263,7 +276,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1JointIntegrator-members.html b/classwbc_1_1JointIntegrator-members.html index f69f4a2e..1e666ed0 100644 --- a/classwbc_1_1JointIntegrator-members.html +++ b/classwbc_1_1JointIntegrator-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::JointIntegrator Member List
    @@ -66,7 +79,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1JointIntegrator.html b/classwbc_1_1JointIntegrator.html index c19c66b3..00f8604d 100644 --- a/classwbc_1_1JointIntegrator.html +++ b/classwbc_1_1JointIntegrator.html @@ -3,13 +3,15 @@ - + wbc: wbc::JointIntegrator Class Reference + + + +
    Public Member Functions | @@ -98,7 +111,7 @@

    wbc::JointIntegrator::JointIntegrator ( - ) + ) @@ -140,22 +153,22 @@

    void wbc::JointIntegrator::integrate ( - const base::samples::Joints & joint_state, + const base::samples::Joints & joint_state, - base::commands::Joints & cmd, + base::commands::Joints & cmd, - double cycle_time, + double cycle_time, - IntegrationMethod method = TRAPEZOIDAL ) + IntegrationMethod method = TRAPEZOIDAL )

    @@ -180,7 +193,7 @@

    void wbc::JointIntegrator::integrateRectangular ( - base::commands::Joints & cmd, + base::commands::Joints & cmd, @@ -210,7 +223,7 @@

    void wbc::JointIntegrator::integrateTrapezoidal ( - base::commands::Joints & cmd, + base::commands::Joints & cmd, @@ -243,7 +256,7 @@

    void wbc::JointIntegrator::reinit ( - ) + ) @@ -265,7 +278,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1JointLimitAvoidanceController-members.html b/classwbc_1_1JointLimitAvoidanceController-members.html index ca39eca9..e37f1bd2 100644 --- a/classwbc_1_1JointLimitAvoidanceController-members.html +++ b/classwbc_1_1JointLimitAvoidanceController-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::JointLimitAvoidanceController Member List
    @@ -84,7 +97,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1JointLimitAvoidanceController.html b/classwbc_1_1JointLimitAvoidanceController.html index eb159f57..aa39c42a 100644 --- a/classwbc_1_1JointLimitAvoidanceController.html +++ b/classwbc_1_1JointLimitAvoidanceController.html @@ -3,13 +3,15 @@ - + wbc: wbc::JointLimitAvoidanceController Class Reference + + + +
    Public Member Functions | @@ -139,7 +152,7 @@

    wbc::JointLimitAvoidanceController::JointLimitAvoidanceController ( - const base::JointLimits & limits, + const base::JointLimits & limits, @@ -297,7 +310,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1JointLimitsAccelerationConstraint-members.html b/classwbc_1_1JointLimitsAccelerationConstraint-members.html index 928477ee..4f62b64e 100644 --- a/classwbc_1_1JointLimitsAccelerationConstraint-members.html +++ b/classwbc_1_1JointLimitsAccelerationConstraint-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::JointLimitsAccelerationConstraint Member List
    @@ -84,7 +97,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1JointLimitsAccelerationConstraint.html b/classwbc_1_1JointLimitsAccelerationConstraint.html index 47b75214..d59ce33e 100644 --- a/classwbc_1_1JointLimitsAccelerationConstraint.html +++ b/classwbc_1_1JointLimitsAccelerationConstraint.html @@ -3,13 +3,15 @@ - + wbc: wbc::JointLimitsAccelerationConstraint Class Reference + + + +
    Public Member Functions | @@ -156,7 +169,7 @@

    wbc::JointLimitsAccelerationConstraint::JointLimitsAccelerationConstraint ( - bool reduced = false) + bool reduced = false) @@ -183,12 +196,12 @@

    wbc::JointLimitsAccelerationConstraint::JointLimitsAccelerationConstraint ( - double dt, + double dt, - bool reduced = false ) + bool reduced = false ) @@ -212,7 +225,7 @@

    virtual wbc::JointLimitsAccelerationConstraint::~JointLimitsAccelerationConstraint ( - ) + ) @@ -308,7 +321,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1JointLimitsVelocityConstraint-members.html b/classwbc_1_1JointLimitsVelocityConstraint-members.html index f079670d..429ab25e 100644 --- a/classwbc_1_1JointLimitsVelocityConstraint-members.html +++ b/classwbc_1_1JointLimitsVelocityConstraint-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::JointLimitsVelocityConstraint Member List
    @@ -83,7 +96,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1JointLimitsVelocityConstraint.html b/classwbc_1_1JointLimitsVelocityConstraint.html index 58302d14..8157a69a 100644 --- a/classwbc_1_1JointLimitsVelocityConstraint.html +++ b/classwbc_1_1JointLimitsVelocityConstraint.html @@ -3,13 +3,15 @@ - + wbc: wbc::JointLimitsVelocityConstraint Class Reference + + + +
    Public Member Functions | @@ -154,7 +167,7 @@

    wbc::JointLimitsVelocityConstraint::JointLimitsVelocityConstraint ( - ) + ) @@ -198,7 +211,7 @@

    virtual wbc::JointLimitsVelocityConstraint::~JointLimitsVelocityConstraint ( - ) + ) @@ -272,7 +285,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1JointPosPDController-members.html b/classwbc_1_1JointPosPDController-members.html index 06d786a6..cfdc09df 100644 --- a/classwbc_1_1JointPosPDController-members.html +++ b/classwbc_1_1JointPosPDController-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::JointPosPDController Member List
    @@ -97,7 +110,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1JointPosPDController.html b/classwbc_1_1JointPosPDController.html index 1a6db89e..791c913d 100644 --- a/classwbc_1_1JointPosPDController.html +++ b/classwbc_1_1JointPosPDController.html @@ -3,13 +3,15 @@ - + wbc: wbc::JointPosPDController Class Reference + + + +
    Public Member Functions | @@ -254,7 +267,7 @@

    const base::commands::Joints & wbc::JointPosPDController::update ( - const base::commands::Joints & setpoint, + const base::commands::Joints & setpoint, @@ -319,7 +332,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1JointTask-members.html b/classwbc_1_1JointTask-members.html index 3c568ba7..2d75ef5b 100644 --- a/classwbc_1_1JointTask-members.html +++ b/classwbc_1_1JointTask-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::JointTask Member List
    @@ -81,7 +94,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1JointTask.html b/classwbc_1_1JointTask.html index beadf794..72bd084a 100644 --- a/classwbc_1_1JointTask.html +++ b/classwbc_1_1JointTask.html @@ -3,13 +3,15 @@ - + wbc: wbc::JointTask Class Reference + + + +
    Public Member Functions | @@ -144,7 +157,7 @@

    wbc::JointTask::JointTask ( - const TaskConfig & _config, + const TaskConfig & _config, @@ -168,7 +181,7 @@

    wbc::JointTask::~JointTask ( - ) + ) @@ -218,7 +231,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1JointTorquePIDController-members.html b/classwbc_1_1JointTorquePIDController-members.html index 7048ab68..db0c8964 100644 --- a/classwbc_1_1JointTorquePIDController-members.html +++ b/classwbc_1_1JointTorquePIDController-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::JointTorquePIDController Member List
    @@ -92,7 +105,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1JointTorquePIDController.html b/classwbc_1_1JointTorquePIDController.html index 8bce9ccc..1f8b9968 100644 --- a/classwbc_1_1JointTorquePIDController.html +++ b/classwbc_1_1JointTorquePIDController.html @@ -3,13 +3,15 @@ - + wbc: wbc::JointTorquePIDController Class Reference + + + +
    Public Member Functions | @@ -176,7 +189,7 @@

    virtual wbc::JointTorquePIDController::~JointTorquePIDController ( - ) + ) @@ -249,12 +262,12 @@

    const base::commands::Joints & wbc::JointTorquePIDController::update ( - const base::commands::Joints & setpoint, + const base::commands::Joints & setpoint, - const base::samples::Joints & feedback, + const base::samples::Joints & feedback, @@ -319,7 +332,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1JointVelocityTask-members.html b/classwbc_1_1JointVelocityTask-members.html index 0671d3c4..0912e9b2 100644 --- a/classwbc_1_1JointVelocityTask-members.html +++ b/classwbc_1_1JointVelocityTask-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::JointVelocityTask Member List
    @@ -83,7 +96,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1JointVelocityTask.html b/classwbc_1_1JointVelocityTask.html index 613b2a23..66f27eae 100644 --- a/classwbc_1_1JointVelocityTask.html +++ b/classwbc_1_1JointVelocityTask.html @@ -3,13 +3,15 @@ - + wbc: wbc::JointVelocityTask Class Reference + + + +
    Public Member Functions | @@ -148,7 +161,7 @@

    wbc::JointVelocityTask::JointVelocityTask ( - TaskConfig config, + TaskConfig config, @@ -172,7 +185,7 @@

    virtual wbc::JointVelocityTask::~JointVelocityTask ( - ) + ) @@ -263,7 +276,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1JointWeights.html b/classwbc_1_1JointWeights.html index ef0ed23e..8f349aef 100644 --- a/classwbc_1_1JointWeights.html +++ b/classwbc_1_1JointWeights.html @@ -3,13 +3,15 @@ - + wbc: wbc::JointWeights Class Reference + + +
    +
    wbc::JointWeights Class Reference
    @@ -68,7 +81,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1KinematicChainKDL-members.html b/classwbc_1_1KinematicChainKDL-members.html index 9fa5f7be..c41fa84f 100644 --- a/classwbc_1_1KinematicChainKDL-members.html +++ b/classwbc_1_1KinematicChainKDL-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + + +
    wbc::KinematicChainKDL Member List
    @@ -90,7 +103,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    + diff --git a/classwbc_1_1KinematicChainKDL.html b/classwbc_1_1KinematicChainKDL.html index ba566584..bf607e3a 100644 --- a/classwbc_1_1KinematicChainKDL.html +++ b/classwbc_1_1KinematicChainKDL.html @@ -3,13 +3,15 @@ - + wbc: wbc::KinematicChainKDL Class Reference + + + +
    Public Member Functions | @@ -147,12 +160,12 @@

    wbc::KinematicChainKDL::KinematicChainKDL ( - const KDL::Chain & chain, + const KDL::Chain & chain, - const std::string & root_frame, + const std::string & root_frame, @@ -174,7 +187,7 @@

    void wbc::KinematicChainKDL::calculateBodyJacobian ( - ) + ) @@ -192,7 +205,7 @@

    void wbc::KinematicChainKDL::calculateForwardKinematics ( - ) + ) @@ -210,7 +223,7 @@

    void wbc::KinematicChainKDL::calculateJacobianDot ( - ) + ) @@ -228,7 +241,7 @@

    void wbc::KinematicChainKDL::calculateSpaceJacobian ( - ) + ) @@ -246,7 +259,7 @@

    const base::samples::RigidBodyStateSE3 & wbc::KinematicChainKDL::rigidBodyState ( - ) + ) @@ -264,17 +277,17 @@

    void wbc::KinematicChainKDL::update ( - const KDL::JntArray & q, + const KDL::JntArray & q, - const KDL::JntArray & qd, + const KDL::JntArray & qd, - const KDL::JntArray & qdd, + const KDL::JntArray & qdd, @@ -645,7 +658,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1OsqpSolver-members.html b/classwbc_1_1OsqpSolver-members.html new file mode 100644 index 00000000..1317a718 --- /dev/null +++ b/classwbc_1_1OsqpSolver-members.html @@ -0,0 +1,97 @@ + + + + + + + +wbc: Member List + + + + + + + + + + + +
    +
    + + + + + + +
    +
    wbc +
    +
    +
    + + + + + + + + + +
    +
    +
    +
    wbc::OsqpSolver Member List
    +
    +
    + +

    This is the complete list of members for wbc::OsqpSolver, including all inherited members.

    + + + + + + + + + + + + + + + + + + +
    configuredwbc::OsqpSolverprotected
    constraint_mat_densewbc::OsqpSolverprotected
    constraint_mat_sparsewbc::OsqpSolverprotected
    exitFlagToString(OsqpEigen::ErrorExitFlag flag)wbc::OsqpSolverinlineprotected
    gradientwbc::OsqpSolverprotected
    hessian_densewbc::OsqpSolverprotected
    hessian_sparsewbc::OsqpSolverprotected
    lower_boundwbc::OsqpSolverprotected
    OsqpSolver()wbc::OsqpSolver
    QPSolver()wbc::QPSolver
    reset()wbc::QPSolverinline
    resetData(uint nq, uint nc)wbc::OsqpSolverprotected
    solve(const HierarchicalQP &hierarchical_qp, base::VectorXd &solver_output)wbc::OsqpSolvervirtual
    solverwbc::OsqpSolverprotected
    upper_boundwbc::OsqpSolverprotected
    ~OsqpSolver()wbc::OsqpSolver
    ~QPSolver()wbc::QPSolvervirtual
    + +
    +Generated by doxygen 1.11.0 +
    +
    + + diff --git a/classwbc_1_1OsqpSolver.html b/classwbc_1_1OsqpSolver.html new file mode 100644 index 00000000..4d187d8b --- /dev/null +++ b/classwbc_1_1OsqpSolver.html @@ -0,0 +1,476 @@ + + + + + + + +wbc: wbc::OsqpSolver Class Reference + + + + + + + + + + + +
    +
    + + + + + + +
    +
    wbc +
    +
    +
    + + + + + + + + + +
    +
    +
    +
    +Public Member Functions | +Protected Member Functions | +Protected Attributes | +List of all members
    +
    wbc::OsqpSolver Class Reference
    +
    +
    + +

    #include <OsqpSolver.hpp>

    +
    +Inheritance diagram for wbc::OsqpSolver:
    +
    +
    + + +wbc::QPSolver + +
    + + + + + + + + + + + + + + + + + +

    +Public Member Functions

     OsqpSolver ()
     
     ~OsqpSolver ()
     
    virtual void solve (const HierarchicalQP &hierarchical_qp, base::VectorXd &solver_output)
     solve Solve the given quadratic program
     
    - Public Member Functions inherited from wbc::QPSolver
     QPSolver ()
     
    virtual ~QPSolver ()
     
    void reset ()
     reset Enforces reconfiguration at next call to solve()
     
    + + + + + +

    +Protected Member Functions

    void resetData (uint nq, uint nc)
     
    std::string exitFlagToString (OsqpEigen::ErrorExitFlag flag)
     
    + + + + + + + + + + + + + + + + + + + + + + +

    +Protected Attributes

    bool configured
     
    OsqpEigen::Solver solver
     
    Eigen::MatrixXd hessian_dense
     
    Eigen::SparseMatrix< double > hessian_sparse
     
    Eigen::MatrixXd constraint_mat_dense
     
    Eigen::SparseMatrix< double > constraint_mat_sparse
     
    Eigen::VectorXd gradient
     
    Eigen::VectorXd lower_bound
     
    Eigen::VectorXd upper_bound
     
    - Protected Attributes inherited from wbc::QPSolver
    bool configured
     
    +

    Constructor & Destructor Documentation

    + +

    ◆ OsqpSolver()

    + +
    +
    + + + + + + + +
    wbc::OsqpSolver::OsqpSolver ()
    +
    + +
    +
    + +

    ◆ ~OsqpSolver()

    + +
    +
    + + + + + + + +
    wbc::OsqpSolver::~OsqpSolver ()
    +
    + +
    +
    +

    Member Function Documentation

    + +

    ◆ exitFlagToString()

    + +
    +
    + + + + + +
    + + + + + + + +
    std::string wbc::OsqpSolver::exitFlagToString (OsqpEigen::ErrorExitFlag flag)
    +     		+inlineprotected
    +
    + +
    +
    + +

    ◆ resetData()

    + +
    +
    + + + + + +
    + + + + + + + + + + + +
    void wbc::OsqpSolver::resetData (uint nq,
    uint nc )
    +     		+protected
    +
    + +
    +
    + +

    ◆ solve()

    + +
    +
    + + + + + +
    + + + + + + + + + + + +
    void wbc::OsqpSolver::solve (const HierarchicalQP & hierarchical_qp,
    base::VectorXd & solver_output )
    +     		+virtual
    +
    + +

    solve Solve the given quadratic program

    +
    Parameters
    + + + +
    hierarchical_qpDescription of the hierarchical quadratic program to solve.
    solver_outputsolution of the quadratic program
    +
    +
    + +

    Implements wbc::QPSolver.

    + +
    +
    +

    Member Data Documentation

    + +

    ◆ configured

    + +
    +
    + + + + + +
    + + + + +
    bool wbc::OsqpSolver::configured
    +     		+protected
    +
    + +
    +
    + +

    ◆ constraint_mat_dense

    + +
    +
    + + + + + +
    + + + + +
    Eigen::MatrixXd wbc::OsqpSolver::constraint_mat_dense
    +     		+protected
    +
    + +
    +
    + +

    ◆ constraint_mat_sparse

    + +
    +
    + + + + + +
    + + + + +
    Eigen::SparseMatrix<double> wbc::OsqpSolver::constraint_mat_sparse
    +     		+protected
    +
    + +
    +
    + +

    ◆ gradient

    + +
    +
    + + + + + +
    + + + + +
    Eigen::VectorXd wbc::OsqpSolver::gradient
    +     		+protected
    +
    + +
    +
    + +

    ◆ hessian_dense

    + +
    +
    + + + + + +
    + + + + +
    Eigen::MatrixXd wbc::OsqpSolver::hessian_dense
    +     		+protected
    +
    + +
    +
    + +

    ◆ hessian_sparse

    + +
    +
    + + + + + +
    + + + + +
    Eigen::SparseMatrix<double> wbc::OsqpSolver::hessian_sparse
    +     		+protected
    +
    + +
    +
    + +

    ◆ lower_bound

    + +
    +
    + + + + + +
    + + + + +
    Eigen::VectorXd wbc::OsqpSolver::lower_bound
    +     		+protected
    +
    + +
    +
    + +

    ◆ solver

    + +
    +
    + + + + + +
    + + + + +
    OsqpEigen::Solver wbc::OsqpSolver::solver
    +     		+protected
    +
    + +
    +
    + +

    ◆ upper_bound

    + +
    +
    + + + + + +
    + + + + +
    Eigen::VectorXd wbc::OsqpSolver::upper_bound
    +     		+protected
    +
    + +
    +
    +
    The documentation for this class was generated from the following files: +
    + +
    +Generated by doxygen 1.11.0 +
    +
    + + diff --git a/classwbc_1_1OsqpSolver.png b/classwbc_1_1OsqpSolver.png new file mode 100644 index 00000000..aa51f67b Binary files /dev/null and b/classwbc_1_1OsqpSolver.png differ diff --git a/classwbc_1_1PIDController-members.html b/classwbc_1_1PIDController-members.html index c2f7e64c..e3a492c0 100644 --- a/classwbc_1_1PIDController-members.html +++ b/classwbc_1_1PIDController-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::PIDController Member List
    @@ -85,7 +98,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1PIDController.html b/classwbc_1_1PIDController.html index 086e21aa..3a066ae0 100644 --- a/classwbc_1_1PIDController.html +++ b/classwbc_1_1PIDController.html @@ -3,13 +3,15 @@ - + wbc: wbc::PIDController Class Reference + + + +
    Public Member Functions | @@ -137,12 +150,12 @@ u = k_p \cdot e + k_i\sum e \cdot dt + k_d\frac{d}{dt}e \]

    -

    with integral windup

    +

    with integral windup

    \[ \sum e \cdot dt \leq w_i \]

    -

    and dead zone

    +

    and dead zone

    \[ e = \left \lbrace \begin{array}{ccc}x_r-x & if & |x_r-x| > d_e \\ \\ 0 & else \end{array}\right. \] @@ -184,7 +197,7 @@

    virtual wbc::PIDController::~PIDController ( - ) + ) @@ -207,12 +220,12 @@

    void wbc::PIDController::applyDeadZone ( - const base::VectorXd & in, + const base::VectorXd & in, - const base::VectorXd & min, + const base::VectorXd & min, @@ -233,12 +246,12 @@

    void wbc::PIDController::applySaturation ( - const base::VectorXd & in, + const base::VectorXd & in, - const base::VectorXd & max, + const base::VectorXd & max, @@ -287,7 +300,7 @@

    const base::VectorXd & wbc::PIDController::deadZone ( - ) + ) @@ -312,7 +325,7 @@

    base::VectorXd wbc::PIDController::getControlError ( - ) + ) @@ -337,7 +350,7 @@

    uint wbc::PIDController::getDimension ( - ) + ) @@ -362,7 +375,7 @@

    const PIDCtrlParams & wbc::PIDController::getPID ( - ) + ) @@ -387,7 +400,7 @@

    const base::VectorXd & wbc::PIDController::maxCtrlOutput ( - ) + ) @@ -719,7 +732,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1PIDCtrlParams-members.html b/classwbc_1_1PIDCtrlParams-members.html index 051d67ec..6692fa12 100644 --- a/classwbc_1_1PIDCtrlParams-members.html +++ b/classwbc_1_1PIDCtrlParams-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::PIDCtrlParams Member List
    @@ -66,7 +79,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1PIDCtrlParams.html b/classwbc_1_1PIDCtrlParams.html index 4f365d1b..8d6b93ba 100644 --- a/classwbc_1_1PIDCtrlParams.html +++ b/classwbc_1_1PIDCtrlParams.html @@ -3,13 +3,15 @@ - + wbc: wbc::PIDCtrlParams Class Reference + + + +
    Public Member Functions | @@ -92,7 +105,7 @@

    wbc::PIDCtrlParams::PIDCtrlParams ( - ) + ) @@ -193,7 +206,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
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    +
    wbc::PlanarPotentialField Member List
    @@ -73,7 +86,8 @@
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    +
    diff --git a/classwbc_1_1PlanarPotentialField.html b/classwbc_1_1PlanarPotentialField.html index 9e18c35b..5315fee1 100644 --- a/classwbc_1_1PlanarPotentialField.html +++ b/classwbc_1_1PlanarPotentialField.html @@ -3,13 +3,15 @@ - + wbc: wbc::PlanarPotentialField Class Reference + + + +
    Public Member Functions | @@ -122,7 +135,7 @@

    PlanarPotentialField::PlanarPotentialField ( - const std::string & _name = "") + const std::string & _name = "") @@ -143,7 +156,7 @@

    virtual wbc::PlanarPotentialField::~PlanarPotentialField ( - ) + ) @@ -215,7 +228,8 @@

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    +

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    +
    wbc::PluginLoader Member List
    @@ -64,7 +77,8 @@
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    diff --git a/classwbc_1_1PluginLoader.html b/classwbc_1_1PluginLoader.html index 5efe1773..f129907e 100644 --- a/classwbc_1_1PluginLoader.html +++ b/classwbc_1_1PluginLoader.html @@ -3,13 +3,15 @@ - + wbc: wbc::PluginLoader Class Reference + + + +
    Public Types | @@ -103,7 +116,7 @@

    static PluginMap * wbc::PluginLoader::getPluginMap ( - ) + ) @@ -173,7 +186,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

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    +
    wbc::PosPDController Member List
    @@ -91,7 +104,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1PosPDController.html b/classwbc_1_1PosPDController.html index 6d98308f..fc6a632c 100644 --- a/classwbc_1_1PosPDController.html +++ b/classwbc_1_1PosPDController.html @@ -3,13 +3,15 @@ - + wbc: wbc::PosPDController Class Reference + + + +
    Public Member Functions | @@ -178,12 +191,12 @@

    void wbc::PosPDController::applyDeadZone ( - const base::VectorXd & in, + const base::VectorXd & in, - const base::VectorXd & min, + const base::VectorXd & min, @@ -215,12 +228,12 @@

    void wbc::PosPDController::applySaturation ( - const base::VectorXd & in, + const base::VectorXd & in, - const base::VectorXd & max, + const base::VectorXd & max, @@ -254,7 +267,7 @@

    const base::VectorXd & wbc::PosPDController::deadZone ( - ) + ) @@ -280,7 +293,7 @@

    const base::VectorXd & wbc::PosPDController::dGain ( - ) + ) @@ -306,7 +319,7 @@

    const base::VectorXd & wbc::PosPDController::ffGain ( - ) + ) @@ -332,7 +345,7 @@

    base::VectorXd wbc::PosPDController::getControlError ( - ) + ) @@ -358,7 +371,7 @@

    const base::VectorXd & wbc::PosPDController::maxCtrlOutput ( - ) + ) @@ -384,7 +397,7 @@

    const base::VectorXd & wbc::PosPDController::pGain ( - ) + ) @@ -497,7 +510,7 @@

    void wbc::PosPDController::update ( - ) + ) @@ -866,7 +879,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1PotentialField-members.html b/classwbc_1_1PotentialField-members.html index 144abf8e..dc58d4ba 100644 --- a/classwbc_1_1PotentialField-members.html +++ b/classwbc_1_1PotentialField-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::PotentialField Member List
    @@ -70,7 +83,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1PotentialField.html b/classwbc_1_1PotentialField.html index cbee3ade..77e24f20 100644 --- a/classwbc_1_1PotentialField.html +++ b/classwbc_1_1PotentialField.html @@ -3,13 +3,15 @@ - + wbc: wbc::PotentialField Class Reference + + + +
    Public Member Functions | @@ -116,12 +129,12 @@

    wbc::PotentialField::PotentialField ( - const uint _dimension, + const uint _dimension, - const std::string & _name = "unset" ) + const std::string & _name = "unset" ) @@ -146,7 +159,7 @@

    virtual wbc::PotentialField::~PotentialField ( - ) + ) @@ -301,7 +314,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1PotentialFieldsController-members.html b/classwbc_1_1PotentialFieldsController-members.html index 1cb45645..d445992c 100644 --- a/classwbc_1_1PotentialFieldsController-members.html +++ b/classwbc_1_1PotentialFieldsController-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::PotentialFieldsController Member List
    @@ -77,7 +90,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1PotentialFieldsController.html b/classwbc_1_1PotentialFieldsController.html index 53cb4650..91f995f3 100644 --- a/classwbc_1_1PotentialFieldsController.html +++ b/classwbc_1_1PotentialFieldsController.html @@ -3,13 +3,15 @@ - + wbc: wbc::PotentialFieldsController Class Reference + + + +
    Public Member Functions | @@ -145,7 +158,7 @@

    void PotentialFieldsController::applySaturation ( - const base::VectorXd & in, + const base::VectorXd & in, @@ -178,7 +191,7 @@

    void wbc::PotentialFieldsController::clearFields ( - ) + ) @@ -204,7 +217,7 @@

    uint wbc::PotentialFieldsController::getDimension ( - ) + ) @@ -227,7 +240,7 @@

    vector< PotentialFieldInfo > PotentialFieldsController::getFieldInfos ( - ) + ) @@ -248,7 +261,7 @@

    const std::vector< PotentialFieldPtr > & wbc::PotentialFieldsController::getFields ( - ) + ) @@ -274,7 +287,7 @@

    base::VectorXd wbc::PotentialFieldsController::getMaxControlOutput ( - ) + ) @@ -300,7 +313,7 @@

    base::VectorXd wbc::PotentialFieldsController::getPGain ( - ) + ) @@ -508,7 +521,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

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    +
    wbc::ProxQPSolver Member List
    @@ -80,7 +93,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1ProxQPSolver.html b/classwbc_1_1ProxQPSolver.html index 0247703c..7467c989 100644 --- a/classwbc_1_1ProxQPSolver.html +++ b/classwbc_1_1ProxQPSolver.html @@ -3,13 +3,15 @@ - + wbc: wbc::ProxQPSolver Class Reference + + + +
    Public Member Functions | @@ -145,7 +158,7 @@

    wbc::ProxQPSolver::ProxQPSolver ( - ) + ) @@ -165,7 +178,7 @@

    virtual wbc::ProxQPSolver::~ProxQPSolver ( - ) + ) @@ -191,7 +204,7 @@

    uint wbc::ProxQPSolver::getMaxNIter ( - ) + ) @@ -217,7 +230,7 @@

    int wbc::ProxQPSolver::getNter ( - ) + ) @@ -269,7 +282,7 @@

    void wbc::ProxQPSolver::solve ( - const wbc::HierarchicalQP & hierarchical_qp, + const wbc::HierarchicalQP & hierarchical_qp, @@ -527,7 +540,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1QPOASESSolver-members.html b/classwbc_1_1QPOASESSolver-members.html index 0cc3aba6..71eac40b 100644 --- a/classwbc_1_1QPOASESSolver-members.html +++ b/classwbc_1_1QPOASESSolver-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::QPOASESSolver Member List
    @@ -83,7 +96,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1QPOASESSolver.html b/classwbc_1_1QPOASESSolver.html index c884268c..437c0ef5 100644 --- a/classwbc_1_1QPOASESSolver.html +++ b/classwbc_1_1QPOASESSolver.html @@ -3,13 +3,15 @@ - + wbc: wbc::QPOASESSolver Class Reference + + + +
    Public Member Functions | @@ -151,7 +164,7 @@

    wbc::QPOASESSolver::QPOASESSolver ( - ) + ) @@ -171,7 +184,7 @@

    wbc::QPOASESSolver::~QPOASESSolver ( - ) + ) @@ -197,7 +210,7 @@

    uint wbc::QPOASESSolver::getMaxNoWSR ( - ) + ) @@ -223,7 +236,7 @@

    int wbc::QPOASESSolver::getNoWSR ( - ) + ) @@ -249,7 +262,7 @@

    qpOASES::Options wbc::QPOASESSolver::getOptions ( - ) + ) @@ -272,7 +285,7 @@

    returnValue wbc::QPOASESSolver::getReturnValue ( - ) + ) @@ -293,7 +306,7 @@

    const qpOASES::SQProblem & wbc::QPOASESSolver::getSQProblem ( - ) + ) @@ -381,7 +394,7 @@

    void wbc::QPOASESSolver::solve ( - const wbc::HierarchicalQP & hierarchical_qp, + const wbc::HierarchicalQP & hierarchical_qp, @@ -593,7 +606,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1QPSolver-members.html b/classwbc_1_1QPSolver-members.html index 5aef97b3..ad9b45d0 100644 --- a/classwbc_1_1QPSolver-members.html +++ b/classwbc_1_1QPSolver-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::QPSolver Member List
    @@ -65,7 +78,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1QPSolver.html b/classwbc_1_1QPSolver.html index 7b17cf47..b5136332 100644 --- a/classwbc_1_1QPSolver.html +++ b/classwbc_1_1QPSolver.html @@ -3,13 +3,15 @@ - + wbc: wbc::QPSolver Class Reference + + + +
    Public Member Functions | @@ -68,9 +81,10 @@ wbc::EiquadprogSolver wbc::HierarchicalLSSolver -wbc::ProxQPSolver -wbc::QPOASESSolver -wbc::QPSwiftSolver +wbc::OsqpSolver +wbc::ProxQPSolver +wbc::QPOASESSolver +wbc::QPSwiftSolver
    @@ -102,7 +116,7 @@

    wbc::QPSolver::QPSolver

    - +
    ())
    @@ -122,7 +136,7 @@

    wbc::QPSolver::~QPSolver ( - ) + ) @@ -148,7 +162,7 @@

    void wbc::QPSolver::reset ( - ) + ) @@ -175,7 +189,7 @@

    virtual void wbc::QPSolver::solve ( - const HierarchicalQP & hierarchical_qp, + const HierarchicalQP & hierarchical_qp, @@ -199,7 +213,7 @@

    wbc::EiquadprogSolver, wbc::HierarchicalLSSolver, wbc::ProxQPSolver, wbc::QPOASESSolver, and wbc::QPSwiftSolver.

    +

    Implemented in wbc::EiquadprogSolver, wbc::HierarchicalLSSolver, wbc::OsqpSolver, wbc::ProxQPSolver, wbc::QPOASESSolver, and wbc::QPSwiftSolver.

    @@ -233,7 +247,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    + diff --git a/classwbc_1_1QPSolver.png b/classwbc_1_1QPSolver.png index 3bda4c00..6d25df93 100644 Binary files a/classwbc_1_1QPSolver.png and b/classwbc_1_1QPSolver.png differ diff --git a/classwbc_1_1QPSwiftSolver-members.html b/classwbc_1_1QPSwiftSolver-members.html index 6651648b..e80dcb29 100644 --- a/classwbc_1_1QPSwiftSolver-members.html +++ b/classwbc_1_1QPSwiftSolver-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + + +
    wbc::QPSwiftSolver Member List
    @@ -89,7 +102,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    + diff --git a/classwbc_1_1QPSwiftSolver.html b/classwbc_1_1QPSwiftSolver.html index 7de985d0..50fcd722 100644 --- a/classwbc_1_1QPSwiftSolver.html +++ b/classwbc_1_1QPSwiftSolver.html @@ -3,13 +3,15 @@ - + wbc: wbc::QPSwiftSolver Class Reference + + + +
    Public Member Functions | @@ -152,7 +165,7 @@

    wbc::QPSwiftSolver::QPSwiftSolver ( - ) + ) @@ -169,7 +182,7 @@

    wbc::QPSwiftSolver::~QPSwiftSolver ( - ) + ) @@ -315,7 +328,7 @@

    void wbc::QPSwiftSolver::solve ( - const wbc::HierarchicalQP & hierarchical_qp, + const wbc::HierarchicalQP & hierarchical_qp, @@ -743,7 +756,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

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    +
    wbc::RadialPotentialField Member List
    @@ -72,7 +85,8 @@
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    diff --git a/classwbc_1_1RadialPotentialField.html b/classwbc_1_1RadialPotentialField.html index a1fc91e2..ec2118bb 100644 --- a/classwbc_1_1RadialPotentialField.html +++ b/classwbc_1_1RadialPotentialField.html @@ -3,13 +3,15 @@ - + wbc: wbc::RadialPotentialField Class Reference + + + +
    Public Member Functions | @@ -119,12 +132,12 @@

    RadialPotentialField::RadialPotentialField ( - const uint _dimension, + const uint _dimension, - const std::string & _name = "" ) + const std::string & _name = "" )

    @@ -144,7 +157,7 @@

    virtual wbc::RadialPotentialField::~RadialPotentialField ( - ) + ) @@ -195,7 +208,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

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    +
    wbc::RigidbodyDynamicsConstraint Member List
    @@ -82,7 +95,8 @@
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    diff --git a/classwbc_1_1RigidbodyDynamicsConstraint.html b/classwbc_1_1RigidbodyDynamicsConstraint.html index 1f403045..59d614b2 100644 --- a/classwbc_1_1RigidbodyDynamicsConstraint.html +++ b/classwbc_1_1RigidbodyDynamicsConstraint.html @@ -3,13 +3,15 @@ - + wbc: wbc::RigidbodyDynamicsConstraint Class Reference + + + +
    Public Member Functions | @@ -152,7 +165,7 @@

    wbc::RigidbodyDynamicsConstraint::RigidbodyDynamicsConstraint ( - bool reduced = false) + bool reduced = false) @@ -179,7 +192,7 @@

    virtual wbc::RigidbodyDynamicsConstraint::~RigidbodyDynamicsConstraint ( - ) + ) @@ -252,7 +265,8 @@

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    +

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    +
    wbc::RobotModel Member List
    @@ -126,7 +139,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
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    diff --git a/classwbc_1_1RobotModel.html b/classwbc_1_1RobotModel.html index 894f85b7..bee4588e 100644 --- a/classwbc_1_1RobotModel.html +++ b/classwbc_1_1RobotModel.html @@ -3,13 +3,15 @@ - + wbc: wbc::RobotModel Class Reference + + + +
    Public Member Functions | @@ -289,7 +302,7 @@

    wbc::RobotModel::RobotModel ( - ) + ) @@ -309,7 +322,7 @@

    virtual wbc::RobotModel::~RobotModel ( - ) + ) @@ -335,7 +348,7 @@

    const std::vector< std::string > & wbc::RobotModel::actuatedJointNames ( - ) + ) @@ -362,7 +375,7 @@

    const std::string & wbc::RobotModel::baseFrame ( - ) + ) @@ -389,7 +402,7 @@

    virtual const base::VectorXd & wbc::RobotModel::biasForces ( - ) + ) @@ -418,7 +431,7 @@

    virtual const base::MatrixXd & wbc::RobotModel::bodyJacobian ( - const std::string & root_frame, + const std::string & root_frame, @@ -459,7 +472,7 @@

    virtual const base::samples::RigidBodyStateSE3 & wbc::RobotModel::centerOfMass ( - ) + ) @@ -488,7 +501,7 @@

    const std::string wbc::RobotModel::chainID ( - const std::string & root, + const std::string & root, @@ -518,7 +531,7 @@

    void wbc::RobotModel::clear ( - ) + ) @@ -543,7 +556,7 @@

    virtual const base::MatrixXd & wbc::RobotModel::comJacobian ( - ) + ) @@ -638,7 +651,7 @@

    const base::samples::RigidBodyStateSE3 & wbc::RobotModel::floatingBaseState ( - ) + ) @@ -665,7 +678,7 @@

    const ActiveContacts & wbc::RobotModel::getActiveContacts ( - ) + ) @@ -692,7 +705,7 @@

    const RobotModelConfig & wbc::RobotModel::getRobotModelConfig ( - ) + ) @@ -738,7 +751,7 @@

    bool wbc::RobotModel::hasFloatingBase ( - ) + ) @@ -803,7 +816,7 @@

    const std::vector< std::string > & wbc::RobotModel::independentJointNames ( - ) + ) @@ -830,7 +843,7 @@

    virtual const base::MatrixXd & wbc::RobotModel::jacobianDot ( - const std::string & root_frame, + const std::string & root_frame, @@ -890,7 +903,7 @@

    const base::JointLimits & wbc::RobotModel::jointLimits ( - ) + ) @@ -917,7 +930,7 @@

    const std::vector< std::string > & wbc::RobotModel::jointNames ( - ) + ) @@ -944,7 +957,7 @@

    virtual const base::MatrixXd & wbc::RobotModel::jointSpaceInertiaMatrix ( - ) + ) @@ -1010,7 +1023,7 @@

    uint wbc::RobotModel::noOfActuatedJoints ( - ) + ) @@ -1037,7 +1050,7 @@

    uint wbc::RobotModel::noOfJoints ( - ) + ) @@ -1064,7 +1077,7 @@

    virtual const base::samples::RigidBodyStateSE3 & wbc::RobotModel::rigidBodyState ( - const std::string & root_frame, + const std::string & root_frame, @@ -1096,7 +1109,7 @@

    const base::MatrixXd & wbc::RobotModel::selectionMatrix ( - ) + ) @@ -1196,7 +1209,7 @@

    virtual const base::MatrixXd & wbc::RobotModel::spaceJacobian ( - const std::string & root_frame, + const std::string & root_frame, @@ -1237,7 +1250,7 @@

    virtual const base::Acceleration & wbc::RobotModel::spatialAccelerationBias ( - const std::string & root_frame, + const std::string & root_frame, @@ -1278,12 +1291,12 @@

    virtual void wbc::RobotModel::systemState ( - base::VectorXd & q, + base::VectorXd & q, - base::VectorXd & qd, + base::VectorXd & qd, @@ -1315,12 +1328,12 @@

    virtual void wbc::RobotModel::update ( - const base::samples::Joints & joint_state, + const base::samples::Joints & joint_state, - const base::samples::RigidBodyStateSE3 & floating_base_state = base::samples::RigidBodyStateSE3() ) + const base::samples::RigidBodyStateSE3 & floating_base_state = base::samples::RigidBodyStateSE3() ) @@ -1355,7 +1368,7 @@

    const std::string & wbc::RobotModel::worldFrame ( - ) + ) @@ -1950,7 +1963,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

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    +
    wbc::RobotModelHyrodyn Member List
    @@ -130,7 +143,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
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    diff --git a/classwbc_1_1RobotModelHyrodyn.html b/classwbc_1_1RobotModelHyrodyn.html index 388cc64f..314d1437 100644 --- a/classwbc_1_1RobotModelHyrodyn.html +++ b/classwbc_1_1RobotModelHyrodyn.html @@ -3,13 +3,15 @@ - + wbc: wbc::RobotModelHyrodyn Class Reference + + + +
    Public Member Functions | @@ -271,7 +284,7 @@

    wbc::RobotModelHyrodyn::RobotModelHyrodyn ( - ) + ) @@ -291,7 +304,7 @@

    wbc::RobotModelHyrodyn::~RobotModelHyrodyn ( - ) + ) @@ -317,7 +330,7 @@

    const base::VectorXd & wbc::RobotModelHyrodyn::biasForces ( - ) + ) @@ -345,7 +358,7 @@

    const base::MatrixXd & wbc::RobotModelHyrodyn::bodyJacobian ( - const std::string & root_frame, + const std::string & root_frame, @@ -385,7 +398,7 @@

    const base::samples::RigidBodyStateSE3 & wbc::RobotModelHyrodyn::centerOfMass ( - ) + ) @@ -414,7 +427,7 @@

    void wbc::RobotModelHyrodyn::clear ( - ) + ) @@ -439,7 +452,7 @@

    const base::MatrixXd & wbc::RobotModelHyrodyn::comJacobian ( - ) + ) @@ -534,7 +547,7 @@

    hyrodyn::RobotModel_HyRoDyn * wbc::RobotModelHyrodyn::hyrodynHandle ( - ) + ) @@ -561,7 +574,7 @@

    const base::MatrixXd & wbc::RobotModelHyrodyn::jacobianDot ( - const std::string & root_frame, + const std::string & root_frame, @@ -602,7 +615,7 @@

    const base::MatrixXd & wbc::RobotModelHyrodyn::jointSpaceInertiaMatrix ( - ) + ) @@ -630,7 +643,7 @@

    const base::samples::RigidBodyStateSE3 & wbc::RobotModelHyrodyn::rigidBodyState ( - const std::string & root_frame, + const std::string & root_frame, @@ -670,7 +683,7 @@

    const base::MatrixXd & wbc::RobotModelHyrodyn::spaceJacobian ( - const std::string & root_frame, + const std::string & root_frame, @@ -710,7 +723,7 @@

    const base::Acceleration & wbc::RobotModelHyrodyn::spatialAccelerationBias ( - const std::string & root_frame, + const std::string & root_frame, @@ -751,12 +764,12 @@

    void wbc::RobotModelHyrodyn::systemState ( - base::VectorXd & q, + base::VectorXd & q, - base::VectorXd & qd, + base::VectorXd & qd, @@ -788,12 +801,12 @@

    void wbc::RobotModelHyrodyn::update ( - const base::samples::Joints & joint_state, + const base::samples::Joints & joint_state, - const base::samples::RigidBodyStateSE3 & floating_base_state = base::samples::RigidBodyStateSE3() ) + const base::samples::RigidBodyStateSE3 & floating_base_state = base::samples::RigidBodyStateSE3() ) @@ -846,7 +859,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1RobotModelKDL-members.html b/classwbc_1_1RobotModelKDL-members.html index d1b244fe..39e0e0e9 100644 --- a/classwbc_1_1RobotModelKDL-members.html +++ b/classwbc_1_1RobotModelKDL-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::RobotModelKDL Member List
    @@ -146,7 +159,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1RobotModelKDL.html b/classwbc_1_1RobotModelKDL.html index b44647e0..667d5e2b 100644 --- a/classwbc_1_1RobotModelKDL.html +++ b/classwbc_1_1RobotModelKDL.html @@ -3,13 +3,15 @@ - + wbc: wbc::RobotModelKDL Class Reference + + + +
    Public Member Functions | @@ -360,7 +373,7 @@

    wbc::RobotModelKDL::RobotModelKDL ( - ) + ) @@ -380,7 +393,7 @@

    wbc::RobotModelKDL::~RobotModelKDL ( - ) + ) @@ -406,7 +419,7 @@

    const base::VectorXd & wbc::RobotModelKDL::biasForces ( - ) + ) @@ -434,7 +447,7 @@

    const base::MatrixXd & wbc::RobotModelKDL::bodyJacobian ( - const std::string & root_frame, + const std::string & root_frame, @@ -474,7 +487,7 @@

    const base::samples::RigidBodyStateSE3 & wbc::RobotModelKDL::centerOfMass ( - ) + ) @@ -503,7 +516,7 @@

    void wbc::RobotModelKDL::clear ( - ) + ) @@ -529,7 +542,7 @@

    const base::MatrixXd & wbc::RobotModelKDL::comJacobian ( - ) + ) @@ -625,12 +638,12 @@

    void wbc::RobotModelKDL::createChain ( - const KDL::Tree & tree, + const KDL::Tree & tree, - const std::string & root_frame, + const std::string & root_frame, @@ -669,7 +682,7 @@

    void wbc::RobotModelKDL::createChain ( - const std::string & root_frame, + const std::string & root_frame, @@ -707,7 +720,7 @@

    KDL::Tree wbc::RobotModelKDL::getTree ( - ) + ) @@ -733,7 +746,7 @@

    const base::MatrixXd & wbc::RobotModelKDL::jacobianDot ( - const std::string & root_frame, + const std::string & root_frame, @@ -774,7 +787,7 @@

    const base::MatrixXd & wbc::RobotModelKDL::jointSpaceInertiaMatrix ( - ) + ) @@ -802,17 +815,17 @@

    void wbc::RobotModelKDL::recursiveCOM ( - const KDL::SegmentMap::const_iterator & currentSegment, + const KDL::SegmentMap::const_iterator & currentSegment, - const KDL::Frame & frame, + const KDL::Frame & frame, - double & mass, + double & mass, @@ -848,7 +861,7 @@

    const base::samples::RigidBodyStateSE3 & wbc::RobotModelKDL::rigidBodyState ( - const std::string & root_frame, + const std::string & root_frame, @@ -888,7 +901,7 @@

    const base::MatrixXd & wbc::RobotModelKDL::spaceJacobian ( - const std::string & root_frame, + const std::string & root_frame, @@ -928,12 +941,12 @@

    const base::MatrixXd & wbc::RobotModelKDL::spaceJacobianFromTree ( - const KDL::Tree & tree, + const KDL::Tree & tree, - const std::string & root_frame, + const std::string & root_frame, @@ -972,7 +985,7 @@

    const base::Acceleration & wbc::RobotModelKDL::spatialAccelerationBias ( - const std::string & root_frame, + const std::string & root_frame, @@ -1013,12 +1026,12 @@

    void wbc::RobotModelKDL::systemState ( - base::VectorXd & q, + base::VectorXd & q, - base::VectorXd & qd, + base::VectorXd & qd, @@ -1050,12 +1063,12 @@

    void wbc::RobotModelKDL::update ( - const base::samples::Joints & joint_state, + const base::samples::Joints & joint_state, - const base::samples::RigidBodyStateSE3 & floating_base_state = base::samples::RigidBodyStateSE3() ) + const base::samples::RigidBodyStateSE3 & floating_base_state = base::samples::RigidBodyStateSE3() ) @@ -1329,7 +1342,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1RobotModelPinocchio-members.html b/classwbc_1_1RobotModelPinocchio-members.html index a72b3706..2cf1bc5d 100644 --- a/classwbc_1_1RobotModelPinocchio-members.html +++ b/classwbc_1_1RobotModelPinocchio-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::RobotModelPinocchio Member List
    @@ -135,7 +148,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1RobotModelPinocchio.html b/classwbc_1_1RobotModelPinocchio.html index 9ca10881..fef00ce9 100644 --- a/classwbc_1_1RobotModelPinocchio.html +++ b/classwbc_1_1RobotModelPinocchio.html @@ -3,13 +3,15 @@ - + wbc: wbc::RobotModelPinocchio Class Reference + + + +
    Public Member Functions | @@ -309,7 +322,7 @@

    wbc::RobotModelPinocchio::RobotModelPinocchio ( - ) + ) @@ -326,7 +339,7 @@

    wbc::RobotModelPinocchio::~RobotModelPinocchio ( - ) + ) @@ -347,7 +360,7 @@

    const base::VectorXd & wbc::RobotModelPinocchio::biasForces ( - ) + ) @@ -376,7 +389,7 @@

    const base::MatrixXd & wbc::RobotModelPinocchio::bodyJacobian ( - const std::string & root_frame, + const std::string & root_frame, @@ -417,7 +430,7 @@

    const base::samples::RigidBodyStateSE3 & wbc::RobotModelPinocchio::centerOfMass ( - ) + ) @@ -446,7 +459,7 @@

    void wbc::RobotModelPinocchio::clear ( - ) + ) @@ -472,7 +485,7 @@

    const base::MatrixXd & wbc::RobotModelPinocchio::comJacobian ( - ) + ) @@ -567,7 +580,7 @@

    const base::MatrixXd & wbc::RobotModelPinocchio::jacobianDot ( - const std::string & root_frame, + const std::string & root_frame, @@ -608,7 +621,7 @@

    const base::MatrixXd & wbc::RobotModelPinocchio::jointSpaceInertiaMatrix ( - ) + ) @@ -637,7 +650,7 @@

    const base::samples::RigidBodyStateSE3 & wbc::RobotModelPinocchio::rigidBodyState ( - const std::string & root_frame, + const std::string & root_frame, @@ -669,7 +682,7 @@

    const base::MatrixXd & wbc::RobotModelPinocchio::spaceJacobian ( - const std::string & root_frame, + const std::string & root_frame, @@ -710,7 +723,7 @@

    const base::Acceleration & wbc::RobotModelPinocchio::spatialAccelerationBias ( - const std::string & root_frame, + const std::string & root_frame, @@ -751,12 +764,12 @@

    void wbc::RobotModelPinocchio::systemState ( - base::VectorXd & q, + base::VectorXd & q, - base::VectorXd & qd, + base::VectorXd & qd, @@ -788,12 +801,12 @@

    void wbc::RobotModelPinocchio::update ( - const base::samples::Joints & joint_state, + const base::samples::Joints & joint_state, - const base::samples::RigidBodyStateSE3 & floating_base_state = base::samples::RigidBodyStateSE3() ) + const base::samples::RigidBodyStateSE3 & floating_base_state = base::samples::RigidBodyStateSE3() ) @@ -956,7 +969,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1RobotModelRBDL-members.html b/classwbc_1_1RobotModelRBDL-members.html index 79cb1c59..084b7a20 100644 --- a/classwbc_1_1RobotModelRBDL-members.html +++ b/classwbc_1_1RobotModelRBDL-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::RobotModelRBDL Member List
    @@ -138,7 +151,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1RobotModelRBDL.html b/classwbc_1_1RobotModelRBDL.html index 38c9cdf5..bc5e7ab2 100644 --- a/classwbc_1_1RobotModelRBDL.html +++ b/classwbc_1_1RobotModelRBDL.html @@ -3,13 +3,15 @@ - + wbc: wbc::RobotModelRBDL Class Reference + + + +
    Public Member Functions | @@ -290,7 +303,7 @@

    wbc::RobotModelRBDL::RobotModelRBDL ( - ) + ) @@ -310,7 +323,7 @@

    wbc::RobotModelRBDL::~RobotModelRBDL ( - ) + ) @@ -336,7 +349,7 @@

    const base::VectorXd & wbc::RobotModelRBDL::biasForces ( - ) + ) @@ -364,7 +377,7 @@

    const base::MatrixXd & wbc::RobotModelRBDL::bodyJacobian ( - const std::string & root_frame, + const std::string & root_frame, @@ -404,7 +417,7 @@

    const base::samples::RigidBodyStateSE3 & wbc::RobotModelRBDL::centerOfMass ( - ) + ) @@ -433,7 +446,7 @@

    void wbc::RobotModelRBDL::clear ( - ) + ) @@ -458,7 +471,7 @@

    const base::MatrixXd & wbc::RobotModelRBDL::comJacobian ( - ) + ) @@ -553,7 +566,7 @@

    const base::MatrixXd & wbc::RobotModelRBDL::jacobianDot ( - const std::string & root_frame, + const std::string & root_frame, @@ -619,7 +632,7 @@

    const base::MatrixXd & wbc::RobotModelRBDL::jointSpaceInertiaMatrix ( - ) + ) @@ -647,7 +660,7 @@

    const base::samples::RigidBodyStateSE3 & wbc::RobotModelRBDL::rigidBodyState ( - const std::string & root_frame, + const std::string & root_frame, @@ -687,7 +700,7 @@

    const base::MatrixXd & wbc::RobotModelRBDL::spaceJacobian ( - const std::string & root_frame, + const std::string & root_frame, @@ -727,7 +740,7 @@

    const base::Acceleration & wbc::RobotModelRBDL::spatialAccelerationBias ( - const std::string & root_frame, + const std::string & root_frame, @@ -768,12 +781,12 @@

    void wbc::RobotModelRBDL::systemState ( - base::VectorXd & q, + base::VectorXd & q, - base::VectorXd & qd, + base::VectorXd & qd, @@ -805,12 +818,12 @@

    void wbc::RobotModelRBDL::update ( - const base::samples::Joints & joint_state, + const base::samples::Joints & joint_state, - const base::samples::RigidBodyStateSE3 & floating_base_state = base::samples::RigidBodyStateSE3() ) + const base::samples::RigidBodyStateSE3 & floating_base_state = base::samples::RigidBodyStateSE3() ) @@ -1042,7 +1055,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1Scene-members.html b/classwbc_1_1Scene-members.html index 0aa308e7..c71de4e0 100644 --- a/classwbc_1_1Scene-members.html +++ b/classwbc_1_1Scene-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::Scene Member List
    @@ -100,7 +113,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1Scene.html b/classwbc_1_1Scene.html index 2906fc82..9b8245b7 100644 --- a/classwbc_1_1Scene.html +++ b/classwbc_1_1Scene.html @@ -3,13 +3,15 @@ - + wbc: wbc::Scene Class Reference + + + +
    Public Member Functions | @@ -207,12 +220,12 @@

    wbc::Scene::Scene ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, - QPSolverPtr solver, + QPSolverPtr solver, @@ -233,7 +246,7 @@

    wbc::Scene::~Scene ( - ) + ) @@ -254,7 +267,7 @@

    void wbc::Scene::clearTasks ( - ) + ) @@ -343,7 +356,7 @@

    const JointWeights & wbc::Scene::getActuatedJointWeights ( - ) + ) const @@ -397,7 +410,7 @@

    const JointWeights & wbc::Scene::getJointWeights ( - ) + ) const @@ -478,7 +491,7 @@

    RobotModelPtr wbc::Scene::getRobotModel ( - ) + ) @@ -505,7 +518,7 @@

    QPSolverPtr wbc::Scene::getSolver ( - ) + ) @@ -532,7 +545,7 @@

    const base::commands::Joints & wbc::Scene::getSolverOutput ( - ) + ) const @@ -559,7 +572,7 @@

    const base::VectorXd & wbc::Scene::getSolverOutputRaw ( - ) + ) const @@ -605,7 +618,7 @@

    const TasksStatus & wbc::Scene::getTasksStatus ( - ) + ) const @@ -632,7 +645,7 @@

    std::vector< TaskConfig > wbc::Scene::getWbcConfig ( - ) + ) @@ -694,7 +707,7 @@

    void wbc::Scene::setReference ( - const std::string & task_name, + const std::string & task_name, @@ -724,7 +737,7 @@

    void wbc::Scene::setReference ( - const std::string & task_name, + const std::string & task_name, @@ -754,7 +767,7 @@

    void wbc::Scene::setTaskActivation ( - const std::string & task_name, + const std::string & task_name, @@ -784,7 +797,7 @@

    void wbc::Scene::setTaskWeights ( - const std::string & task_name, + const std::string & task_name, @@ -847,7 +860,7 @@

    void wbc::Scene::sortTaskConfig ( - const std::vector< TaskConfig > & config, + const std::vector< TaskConfig > & config, @@ -878,7 +891,7 @@

    virtual const HierarchicalQP & wbc::Scene::update ( - ) + ) @@ -908,7 +921,7 @@

    virtual const TasksStatus & wbc::Scene::updateTasksStatus ( - ) + ) @@ -1219,7 +1232,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1Task-members.html b/classwbc_1_1Task-members.html index 269cc32b..6f2445c2 100644 --- a/classwbc_1_1Task-members.html +++ b/classwbc_1_1Task-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::Task Member List
    @@ -78,7 +91,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1Task.html b/classwbc_1_1Task.html index f57300b7..3a7c6ea8 100644 --- a/classwbc_1_1Task.html +++ b/classwbc_1_1Task.html @@ -3,13 +3,15 @@ - + wbc: wbc::Task Class Reference + + + +
    Public Member Functions | @@ -141,7 +154,7 @@

    wbc::Task::Task ( - ) + ) @@ -160,7 +173,7 @@

    wbc::Task::Task ( - const TaskConfig & _config, + const TaskConfig & _config, @@ -183,7 +196,7 @@

    wbc::Task::~Task ( - ) + ) @@ -201,7 +214,7 @@

    void wbc::Task::checkTimeout ( - ) + ) @@ -224,7 +237,7 @@

    void wbc::Task::reset ( - ) + ) @@ -471,7 +484,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1TaskConfig-members.html b/classwbc_1_1TaskConfig-members.html index 360cbe63..d8ade816 100644 --- a/classwbc_1_1TaskConfig-members.html +++ b/classwbc_1_1TaskConfig-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::TaskConfig Member List
    @@ -77,7 +90,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1TaskConfig.html b/classwbc_1_1TaskConfig.html index 2990cc70..b8c2f053 100644 --- a/classwbc_1_1TaskConfig.html +++ b/classwbc_1_1TaskConfig.html @@ -3,13 +3,15 @@ - + wbc: wbc::TaskConfig Class Reference + + + +
    Public Member Functions | @@ -120,7 +133,7 @@

    wbc::TaskConfig::TaskConfig ( - ) + ) @@ -137,42 +150,42 @@

    wbc::TaskConfig::TaskConfig ( - const std::string & name, + const std::string & name, - const int priority, + const int priority, - const std::string root, + const std::string root, - const std::string tip, + const std::string tip, - const std::string ref_frame, + const std::string ref_frame, - const double activation = 0, + const double activation = 0, - const std::vector< double > weights = {1,1,1,1,1,1}, + const std::vector< double > weights = {1,1,1,1,1,1}, - const double timeout = 0 ) + const double timeout = 0 )

    @@ -189,32 +202,32 @@

    wbc::TaskConfig::TaskConfig ( - const std::string & name, + const std::string & name, - const int priority, + const int priority, - const std::vector< std::string > joint_names, + const std::vector< std::string > joint_names, - const std::vector< double > weights, + const std::vector< double > weights, - const double activation = 0, + const double activation = 0, - const double timeout = 0 ) + const double timeout = 0 )

    @@ -231,27 +244,27 @@

    wbc::TaskConfig::TaskConfig ( - const std::string & name, + const std::string & name, - const int priority, + const int priority, - const std::vector< double > weights = {1,1,1}, + const std::vector< double > weights = {1,1,1}, - const double activation = 0, + const double activation = 0, - const double timeout = 0 ) + const double timeout = 0 )

    @@ -268,7 +281,7 @@

    wbc::TaskConfig::~TaskConfig ( - ) + ) @@ -286,7 +299,7 @@

    unsigned int wbc::TaskConfig::nVariables ( - ) + ) const @@ -304,7 +317,7 @@

    void wbc::TaskConfig::validate ( - ) + ) const @@ -471,7 +484,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1TaskStatus-members.html b/classwbc_1_1TaskStatus-members.html index 89357167..a4348807 100644 --- a/classwbc_1_1TaskStatus-members.html +++ b/classwbc_1_1TaskStatus-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::TaskStatus Member List
    @@ -68,7 +81,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1TaskStatus.html b/classwbc_1_1TaskStatus.html index 73509853..bbb8d82d 100644 --- a/classwbc_1_1TaskStatus.html +++ b/classwbc_1_1TaskStatus.html @@ -3,13 +3,15 @@ - + wbc: wbc::TaskStatus Class Reference + + + +
    Public Attributes | @@ -206,7 +219,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1TasksStatus.html b/classwbc_1_1TasksStatus.html index 367a544f..a871322b 100644 --- a/classwbc_1_1TasksStatus.html +++ b/classwbc_1_1TasksStatus.html @@ -3,13 +3,15 @@ - + wbc: wbc::TasksStatus Class Reference + + +
    +
    wbc::TasksStatus Class Reference
    @@ -68,7 +81,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1URDFTools-members.html b/classwbc_1_1URDFTools-members.html index 5eec7313..1ee24d28 100644 --- a/classwbc_1_1URDFTools-members.html +++ b/classwbc_1_1URDFTools-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + + +
    wbc::URDFTools Member List
    @@ -70,7 +83,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    + diff --git a/classwbc_1_1URDFTools.html b/classwbc_1_1URDFTools.html index 4851c7dd..c822e22d 100644 --- a/classwbc_1_1URDFTools.html +++ b/classwbc_1_1URDFTools.html @@ -3,13 +3,15 @@ - + wbc: wbc::URDFTools Class Reference + + + +
    Static Public Member Functions | @@ -96,12 +109,12 @@

    std::vector< std::string > wbc::URDFTools::addFloatingBaseToURDF ( - urdf::ModelInterfaceSharedPtr & robot_urdf, + urdf::ModelInterfaceSharedPtr & robot_urdf, - const std::string & world_frame_id = "world" ) + const std::string & world_frame_id = "world" ) @@ -126,7 +139,7 @@

    bool wbc::URDFTools::applyJointBlacklist ( - urdf::ModelInterfaceSharedPtr & robot_urdf, + urdf::ModelInterfaceSharedPtr & robot_urdf, @@ -156,7 +169,7 @@

    void wbc::URDFTools::jointLimitsFromURDF ( - const std::string & filename, + const std::string & filename, @@ -186,7 +199,7 @@

    void wbc::URDFTools::jointLimitsFromURDF ( - const urdf::ModelInterfaceSharedPtr & urdf_model, + const urdf::ModelInterfaceSharedPtr & urdf_model, @@ -294,12 +307,12 @@

    void wbc::URDFTools::printTree ( - urdf::LinkConstSharedPtr link, + urdf::LinkConstSharedPtr link, - int level = 0 ) + int level = 0 ) @@ -371,7 +384,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1VelocityScene-members.html b/classwbc_1_1VelocityScene-members.html index d011d9c2..a9d8b8cd 100644 --- a/classwbc_1_1VelocityScene-members.html +++ b/classwbc_1_1VelocityScene-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::VelocityScene Member List
    @@ -106,7 +119,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/classwbc_1_1VelocityScene.html b/classwbc_1_1VelocityScene.html index 47462d05..1360c816 100644 --- a/classwbc_1_1VelocityScene.html +++ b/classwbc_1_1VelocityScene.html @@ -3,13 +3,15 @@ - + wbc: wbc::VelocityScene Class Reference + + + +
    Public Member Functions | @@ -240,12 +253,12 @@

    wbc::VelocityScene::VelocityScene ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, - QPSolverPtr solver, + QPSolverPtr solver, @@ -269,7 +282,7 @@

    virtual wbc::VelocityScene::~VelocityScene ( - ) + ) @@ -354,7 +367,7 @@

    const HierarchicalQP & wbc::VelocityScene::update ( - ) + ) @@ -385,7 +398,7 @@

    const TasksStatus & wbc::VelocityScene::updateTasksStatus ( - ) + ) @@ -498,7 +511,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/classwbc_1_1VelocitySceneQP-members.html b/classwbc_1_1VelocitySceneQP-members.html index 35620381..be7def17 100644 --- a/classwbc_1_1VelocitySceneQP-members.html +++ b/classwbc_1_1VelocitySceneQP-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::VelocitySceneQP Member List
    @@ -115,7 +128,8 @@
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    Here is a list of all macros with links to the files they belong to:

    - b -

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/globals_enum.html b/globals_enum.html index af3df650..637f028f 100644 --- a/globals_enum.html +++ b/globals_enum.html @@ -3,13 +3,15 @@ - + wbc: File Members + + +
    +
    Here is a list of all enums with links to the files they belong to:
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/globals_eval.html b/globals_eval.html index 08a93d57..c88f05d5 100644 --- a/globals_eval.html +++ b/globals_eval.html @@ -3,13 +3,15 @@ - + wbc: File Members + + +
    +
    Here is a list of all enum values with links to the files they belong to:
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/globals_func.html b/globals_func.html index 6d13eea1..39f1dd77 100644 --- a/globals_func.html +++ b/globals_func.html @@ -3,13 +3,15 @@ - + wbc: File Members + + +
    +
    Here is a list of all functions with links to the files they belong to:

    - b -

    @@ -84,7 +97,8 @@

    - r -

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/hierarchy.html b/hierarchy.html index b1566d6d..6a6cfa49 100644 --- a/hierarchy.html +++ b/hierarchy.html @@ -3,13 +3,15 @@ - + wbc: Class Hierarchy + + +
    +
    Class Hierarchy
    @@ -89,62 +102,64 @@  ▼Cwbc::QPSolver  Cwbc::EiquadprogSolverWrapper for the qp-solver eiquadprog (see https://github.com/stack-of-tasks/eiquadprog). It solves problems of shape:  Cwbc::HierarchicalLSSolverImplementation of the hierarchical weighted damped least squares solver (HWLS), similar to Schutter, J. et al. “Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty.” The International Journal of Robotics Research 26 (2007): 433 - 455. It solves the following optimization problem - Cwbc::ProxQPSolverWrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape: - Cwbc::QPOASESSolverWrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape: - Cwbc::QPSwiftSolver - Cwbc::QPSolverConfig - ▼Cwbc::QPSolverFactory - Cwbc::QPSolverRegistry< wbc::EiquadprogSolver > - Cwbc::QPSolverRegistry< wbc::HierarchicalLSSolver > - Cwbc::QPSolverRegistry< wbc::ProxQPSolver > - Cwbc::QPSolverRegistry< wbc::QPOASESSolver > - Cwbc::QPSolverRegistry< wbc::QPSwiftSolver > - Cwbc::QPSolverRegistry< T > - Cwbc::QuadraticProgramDescribes a quadratic program of the form - ▼Cwbc::RobotModelInterface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC - Cwbc::RobotModelHyrodyn - Cwbc::RobotModelKDLThis model describes the kinemetic relationships required for velocity based wbc. It is based on a single KDL Tree. However, multiple KDL trees can be added and will be appropriately concatenated. This way you can describe e.g. geometric robot-object relationships or create multi-robot scenarios - Cwbc::RobotModelPinocchio - Cwbc::RobotModelRBDL - Cwbc::RobotModelConfigRobot Model configuration class - ▼Cwbc::RobotModelFactory - Cwbc::RobotModelRegistry< wbc::RobotModelHyrodyn > - Cwbc::RobotModelRegistry< wbc::RobotModelKDL > - Cwbc::RobotModelRegistry< wbc::RobotModelPinocchio > - Cwbc::RobotModelRegistry< wbc::RobotModelRBDL > - Cwbc::RobotModelRegistry< T > - ▼Cwbc::SceneBase class for all wbc scenes - Cwbc::AccelerationSceneAcceleration-based implementation of the WBC Scene. It sets up and solves the following optimization problem: - Cwbc::AccelerationSceneReducedTSIDAcceleration-based implementation of the WBC Scene. It sets up and solves the following problem: - Cwbc::AccelerationSceneTSIDAcceleration-based implementation of the WBC Scene. It sets up and solves the following problem: - ▼Cwbc::VelocitySceneVelocity-based implementation of the WBC Scene. It sets up and solves the following problem: - Cwbc::VelocitySceneQPVelocity-based implementation of the WBC Scene. It sets up and solves the following problem: - Cwbc::SceneConfig - ▼Cwbc::SceneFactory - Cwbc::SceneRegistry< wbc::AccelerationScene > - Cwbc::SceneRegistry< wbc::AccelerationSceneReducedTSID > - Cwbc::SceneRegistry< wbc::AccelerationSceneTSID > - Cwbc::SceneRegistry< wbc::VelocityScene > - Cwbc::SceneRegistry< wbc::VelocitySceneQP > - Cwbc::SceneRegistry< T > - ▼Cwbc::TaskAbstract class to represent a generic task for a WBC optimization problem - ▼Cwbc::CartesianTaskAbstract interface for a task in Cartesian space - Cwbc::CartesianAccelerationTaskImplementation of a Cartesian acceleration task - Cwbc::CartesianVelocityTaskImplementation of a Cartesian velocity task - Cwbc::CoMAccelerationTaskImplementation of a CoM velocity task - Cwbc::CoMVelocityTaskImplementation of a CoM velocity task - ▼Cwbc::JointTaskAbstract interface for a task in joint space - Cwbc::JointAccelerationTaskImplementation of a Joint velocity task - Cwbc::JointVelocityTaskImplementation of a Joint velocity task - Cwbc::TaskConfigDefines a task in the whole body control problem. Valid Configurations are e.g - Cwbc::TaskStatus - Cwbc::URDFTools + Cwbc::OsqpSolver + Cwbc::ProxQPSolverWrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape: + Cwbc::QPOASESSolverWrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape: + Cwbc::QPSwiftSolver + Cwbc::QPSolverConfig + ▼Cwbc::QPSolverFactory + Cwbc::QPSolverRegistry< wbc::EiquadprogSolver > + Cwbc::QPSolverRegistry< wbc::HierarchicalLSSolver > + Cwbc::QPSolverRegistry< wbc::ProxQPSolver > + Cwbc::QPSolverRegistry< wbc::QPOASESSolver > + Cwbc::QPSolverRegistry< wbc::QPSwiftSolver > + Cwbc::QPSolverRegistry< T > + Cwbc::QuadraticProgramDescribes a quadratic program of the form + ▼Cwbc::RobotModelInterface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC + Cwbc::RobotModelHyrodyn + Cwbc::RobotModelKDLThis model describes the kinemetic relationships required for velocity based wbc. It is based on a single KDL Tree. However, multiple KDL trees can be added and will be appropriately concatenated. This way you can describe e.g. geometric robot-object relationships or create multi-robot scenarios + Cwbc::RobotModelPinocchio + Cwbc::RobotModelRBDL + Cwbc::RobotModelConfigRobot Model configuration class + ▼Cwbc::RobotModelFactory + Cwbc::RobotModelRegistry< wbc::RobotModelHyrodyn > + Cwbc::RobotModelRegistry< wbc::RobotModelKDL > + Cwbc::RobotModelRegistry< wbc::RobotModelPinocchio > + Cwbc::RobotModelRegistry< wbc::RobotModelRBDL > + Cwbc::RobotModelRegistry< T > + ▼Cwbc::SceneBase class for all wbc scenes + Cwbc::AccelerationSceneAcceleration-based implementation of the WBC Scene. It sets up and solves the following optimization problem: + Cwbc::AccelerationSceneReducedTSIDAcceleration-based implementation of the WBC Scene. It sets up and solves the following problem: + Cwbc::AccelerationSceneTSIDAcceleration-based implementation of the WBC Scene. It sets up and solves the following problem: + ▼Cwbc::VelocitySceneVelocity-based implementation of the WBC Scene. It sets up and solves the following problem: + Cwbc::VelocitySceneQPVelocity-based implementation of the WBC Scene. It sets up and solves the following problem: + Cwbc::SceneConfig + ▼Cwbc::SceneFactory + Cwbc::SceneRegistry< wbc::AccelerationScene > + Cwbc::SceneRegistry< wbc::AccelerationSceneReducedTSID > + Cwbc::SceneRegistry< wbc::AccelerationSceneTSID > + Cwbc::SceneRegistry< wbc::VelocityScene > + Cwbc::SceneRegistry< wbc::VelocitySceneQP > + Cwbc::SceneRegistry< T > + ▼Cwbc::TaskAbstract class to represent a generic task for a WBC optimization problem + ▼Cwbc::CartesianTaskAbstract interface for a task in Cartesian space + Cwbc::CartesianAccelerationTaskImplementation of a Cartesian acceleration task + Cwbc::CartesianVelocityTaskImplementation of a Cartesian velocity task + Cwbc::CoMAccelerationTaskImplementation of a CoM velocity task + Cwbc::CoMVelocityTaskImplementation of a CoM velocity task + ▼Cwbc::JointTaskAbstract interface for a task in joint space + Cwbc::JointAccelerationTaskImplementation of a Joint velocity task + Cwbc::JointVelocityTaskImplementation of a Joint velocity task + Cwbc::TaskConfigDefines a task in the whole body control problem. Valid Configurations are e.g + Cwbc::TaskStatus + Cwbc::URDFTools
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    + diff --git a/index.html b/index.html index 47d8c901..e6c6c818 100644 --- a/index.html +++ b/index.html @@ -3,13 +3,15 @@ - + wbc: wbc + + +
    +
    wbc
    @@ -111,7 +124,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/menu.js b/menu.js index 717761d0..0fd1e990 100644 --- a/menu.js +++ b/menu.js @@ -22,7 +22,7 @@ @licend The above is the entire license notice for the JavaScript code in this file */ -function initMenu(relPath,searchEnabled,serverSide,searchPage,search) { +function initMenu(relPath,searchEnabled,serverSide,searchPage,search,treeview) { function makeTree(data,relPath) { let result=''; if ('children' in data) { @@ -91,7 +91,7 @@ function initMenu(relPath,searchEnabled,serverSide,searchPage,search) { let prevWidth = 0; if ($mainMenuState.length) { const initResizableIfExists = function() { - if (typeof initResizable==='function') initResizable(); + if (typeof initResizable==='function') initResizable(treeview); } // animate mobile menu $mainMenuState.change(function() { diff --git a/namespacebase.html b/namespacebase.html index 78f25b52..8ece733a 100644 --- a/namespacebase.html +++ b/namespacebase.html @@ -3,13 +3,15 @@ - + wbc: base Namespace Reference + + + +
    Namespaces | @@ -56,7 +69,7 @@ - +

    Namespaces

    namespace  samples
    namespace  samples
     
    - + @@ -90,7 +103,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    + diff --git a/namespacebase_1_1samples.html b/namespacebase_1_1samples.html index 7fc5b0b5..478950d7 100644 --- a/namespacebase_1_1samples.html +++ b/namespacebase_1_1samples.html @@ -3,13 +3,15 @@ - + wbc: base::samples Namespace Reference + + + +
    Functions
    @@ -74,7 +87,7 @@

    void base::samples::fromRigidBodyState

    - + @@ -95,7 +108,7 @@

    void base::samples::toRigidBodyState

    - + @@ -110,7 +123,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    + diff --git a/namespacemembers.html b/namespacemembers.html index 9bcfc70c..5eac40ea 100644 --- a/namespacemembers.html +++ b/namespacemembers.html @@ -3,13 +3,15 @@ - + wbc: Namespace Members + + +
    +
    Here is a list of all namespace members with links to the namespace documentation for each member:
    @@ -161,7 +174,8 @@

    - u -

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/namespacemembers_enum.html b/namespacemembers_enum.html index 0fd887e5..f187471a 100644 --- a/namespacemembers_enum.html +++ b/namespacemembers_enum.html @@ -3,13 +3,15 @@ - + wbc: Namespace Members + + +
    +
    Here is a list of all namespace enums with links to the namespace documentation for each enum:
    • activationType : wbc
      • @@ -55,7 +68,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/namespacemembers_eval.html b/namespacemembers_eval.html index 9773d903..496fa3cb 100644 --- a/namespacemembers_eval.html +++ b/namespacemembers_eval.html @@ -3,13 +3,15 @@ - + wbc: Namespace Members + + +
    +
    Here is a list of all namespace enum values with links to the namespace documentation for each enum value:
    • cart : wbc
      • @@ -65,7 +78,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/namespacemembers_func.html b/namespacemembers_func.html index d23bb28e..4164dd0f 100644 --- a/namespacemembers_func.html +++ b/namespacemembers_func.html @@ -3,13 +3,15 @@ - + wbc: Namespace Members + + +
    +
    Here is a list of all namespace functions with links to the namespace documentation for each function:
    • createT() : wbc
      • @@ -68,7 +81,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/namespacemembers_type.html b/namespacemembers_type.html index 77285216..7fd3ebe1 100644 --- a/namespacemembers_type.html +++ b/namespacemembers_type.html @@ -3,13 +3,15 @@ - + wbc: Namespace Members + + +
    +
    Here is a list of all namespace typedefs with links to the namespace documentation for each typedef:
    • CartesianAccelerationTaskPtr : wbc
      • @@ -71,7 +84,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/namespaceqpOASES.html b/namespaceqpOASES.html index 9be22643..fad7fffb 100644 --- a/namespaceqpOASES.html +++ b/namespaceqpOASES.html @@ -3,13 +3,15 @@ - + wbc: qpOASES Namespace Reference + + + +
    Enumerations
    @@ -86,7 +99,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/namespaces.html b/namespaces.html index 48e7e7ef..398bd775 100644 --- a/namespaces.html +++ b/namespaces.html @@ -3,13 +3,15 @@ - + wbc: Namespace List + +
    +
    +
    Namespace List
    @@ -91,49 +104,51 @@

    - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    @@ -74,7 +87,7 @@

    Twist base::operator-

    		(const Pose & a, const Pose & a,
    (const RigidBodyState & in, const RigidBodyState & in,
    (const RigidBodyStateSE3 & in, const RigidBodyStateSE3 & in,
     CJointVelocityTaskImplementation of a Joint velocity task
     CJointWeights
     CKinematicChainKDLHelper class for storing information of a KDL chain in the robot model
     CPIDControllerImplements an n-dimensional PID controller
     CPIDCtrlParams
     CPlanarPotentialFieldPlanar Potential field. The gradient will be constant on planes parallel to the plane defined by x0 (origin) and n (surface normal)
     CPluginLoader
     CPosPDControllerImplements the following two control scemes
     CPotentialFieldBase class for potential fields
     CPotentialFieldInfo
     CPotentialFieldsControllerBase class for potential field controllers
     CProxQPSolverWrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape:
     CQPOASESSolverWrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape:
     CQPSolver
     CQPSolverConfig
     CQPSolverFactory
     CQPSolverRegistry
     CQPSwiftSolver
     CQuadraticProgramDescribes a quadratic program of the form
     CRadialPotentialFieldRadial Potential field. The computed gradient will be constant on volumnes with constant radius around the center of the potential field:
     CRigidbodyDynamicsConstraintAbstract class to represent a generic hard constraint for a WBC optimization problem
     CRobotModelInterface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC
     CRobotModelConfigRobot Model configuration class
     CRobotModelFactory
     CRobotModelHyrodyn
     CRobotModelKDLThis model describes the kinemetic relationships required for velocity based wbc. It is based on a single KDL Tree. However, multiple KDL trees can be added and will be appropriately concatenated. This way you can describe e.g. geometric robot-object relationships or create multi-robot scenarios
     CRobotModelPinocchio
     CRobotModelRBDL
     CRobotModelRegistry
     CSceneBase class for all wbc scenes
     CSceneConfig
     CSceneFactory
     CSceneRegistry
     CTaskAbstract class to represent a generic task for a WBC optimization problem
     CTaskConfigDefines a task in the whole body control problem. Valid Configurations are e.g
     CTasksStatus
     CTaskStatus
     CURDFTools
     CVelocitySceneVelocity-based implementation of the WBC Scene. It sets up and solves the following problem:
     CVelocitySceneQPVelocity-based implementation of the WBC Scene. It sets up and solves the following problem:
     COsqpSolver
     CPIDControllerImplements an n-dimensional PID controller
     CPIDCtrlParams
     CPlanarPotentialFieldPlanar Potential field. The gradient will be constant on planes parallel to the plane defined by x0 (origin) and n (surface normal)
     CPluginLoader
     CPosPDControllerImplements the following two control scemes
     CPotentialFieldBase class for potential fields
     CPotentialFieldInfo
     CPotentialFieldsControllerBase class for potential field controllers
     CProxQPSolverWrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape:
     CQPOASESSolverWrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape:
     CQPSolver
     CQPSolverConfig
     CQPSolverFactory
     CQPSolverRegistry
     CQPSwiftSolver
     CQuadraticProgramDescribes a quadratic program of the form
     CRadialPotentialFieldRadial Potential field. The computed gradient will be constant on volumnes with constant radius around the center of the potential field:
     CRigidbodyDynamicsConstraintAbstract class to represent a generic hard constraint for a WBC optimization problem
     CRobotModelInterface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC
     CRobotModelConfigRobot Model configuration class
     CRobotModelFactory
     CRobotModelHyrodyn
     CRobotModelKDLThis model describes the kinemetic relationships required for velocity based wbc. It is based on a single KDL Tree. However, multiple KDL trees can be added and will be appropriately concatenated. This way you can describe e.g. geometric robot-object relationships or create multi-robot scenarios
     CRobotModelPinocchio
     CRobotModelRBDL
     CRobotModelRegistry
     CSceneBase class for all wbc scenes
     CSceneConfig
     CSceneFactory
     CSceneRegistry
     CTaskAbstract class to represent a generic task for a WBC optimization problem
     CTaskConfigDefines a task in the whole body control problem. Valid Configurations are e.g
     CTasksStatus
     CTaskStatus
     CURDFTools
     CVelocitySceneVelocity-based implementation of the WBC Scene. It sets up and solves the following problem:
     CVelocitySceneQPVelocity-based implementation of the WBC Scene. It sets up and solves the following problem:
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/namespacewbc.html b/namespacewbc.html index c3aa0b8b..d69197e4 100644 --- a/namespacewbc.html +++ b/namespacewbc.html @@ -3,13 +3,15 @@ - + wbc: wbc Namespace Reference + + + +
    Classes | @@ -152,6 +165,8 @@ class  KinematicChainKDL  Helper class for storing information of a KDL chain in the robot model. More...
      +class  OsqpSolver +  class  PIDController  The PIDController class implements an n-dimensional PID controller. More...
      @@ -684,7 +699,7 @@

    QPSolver * wbc::createT ( - ) + ) @@ -703,7 +718,7 @@

    RobotModel * wbc::createT ( - ) + ) @@ -722,12 +737,12 @@

    Scene * wbc::createT ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, - QPSolverPtr solver, + QPSolverPtr solver, @@ -748,7 +763,7 @@

    base::samples::RigidBodyStateSE3 wbc::makeRandomFloatingBaseState ( - ) + ) @@ -799,7 +814,7 @@

    base::Vector6d wbc::operator+ ( - base::Vector6d a, + base::Vector6d a, @@ -820,7 +835,7 @@

    std::vector< std::string > wbc::operator+ ( - std::vector< std::string > a, + std::vector< std::string > a, @@ -841,7 +856,7 @@

    base::Vector6d wbc::operator- ( - base::Vector6d a, + base::Vector6d a, @@ -862,7 +877,7 @@

    base::Twist wbc::operator- ( - const base::Pose & a, + const base::Pose & a, @@ -903,7 +918,7 @@

    double wbc::PYTHAG ( - double a, + double a, @@ -932,7 +947,7 @@

    double wbc::SIGN ( - double a, + double a, @@ -958,32 +973,32 @@

    int wbc::svd_eigen_decomposition ( - const base::MatrixXd & A, + const base::MatrixXd & A, - base::MatrixXd & U, + base::MatrixXd & U, - base::VectorXd & S, + base::VectorXd & S, - base::MatrixXd & V, + base::MatrixXd & V, - base::VectorXd & tmp, + base::VectorXd & tmp, - int maxiter, + int maxiter, @@ -1004,17 +1019,17 @@

    void wbc::testBodyJacobian ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, - const std::string & tip_frame, + const std::string & tip_frame, - bool verbose = false ) + bool verbose = false )

    @@ -1030,12 +1045,12 @@

    void wbc::testBodyJacobian ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, - const string & tip_frame, + const string & tip_frame, @@ -1056,7 +1071,7 @@

    void wbc::testCoMJacobian ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, @@ -1077,7 +1092,7 @@

    void wbc::testDynamics ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, @@ -1098,17 +1113,17 @@

    void wbc::testFK ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, - const std::string & tip_frame, + const std::string & tip_frame, - bool verbose = false ) + bool verbose = false )

    @@ -1124,12 +1139,12 @@

    void wbc::testFK ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, - const string & tip_frame, + const string & tip_frame, @@ -1150,17 +1165,17 @@

    void wbc::testSpaceJacobian ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, - const std::string & tip_frame, + const std::string & tip_frame, - bool verbose = false ) + bool verbose = false )

    @@ -1176,12 +1191,12 @@

    void wbc::testSpaceJacobian ( - RobotModelPtr robot_model, + RobotModelPtr robot_model, - const string & tip_frame, + const string & tip_frame, @@ -1196,7 +1211,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

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IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ + +function initResizable(treeview) { + let sidenav,navtree,content,header,footer,barWidth=6; + const RESIZE_COOKIE_NAME = ''+'width'; + + function resizeWidth() { + const sidenavWidth = $(sidenav).outerWidth(); + content.css({marginLeft:parseInt(sidenavWidth)+"px"}); + if (typeof page_layout!=='undefined' && page_layout==1) { + footer.css({marginLeft:parseInt(sidenavWidth)+"px"}); + } + Cookie.writeSetting(RESIZE_COOKIE_NAME,sidenavWidth-barWidth); + } + + function restoreWidth(navWidth) { + content.css({marginLeft:parseInt(navWidth)+barWidth+"px"}); + if (typeof page_layout!=='undefined' && page_layout==1) { + footer.css({marginLeft:parseInt(navWidth)+barWidth+"px"}); + } + sidenav.css({width:navWidth + "px"}); + } + + function resizeHeight(treeview) { + const headerHeight = header.outerHeight(); + const windowHeight = $(window).height(); + let contentHeight; + if (treeview) + { + const footerHeight = footer.outerHeight(); + let navtreeHeight,sideNavHeight; + if (typeof page_layout==='undefined' || page_layout==0) { /* DISABLE_INDEX=NO */ + contentHeight = windowHeight - headerHeight - footerHeight; + navtreeHeight = contentHeight; + sideNavHeight = contentHeight; + } else if (page_layout==1) { /* DISABLE_INDEX=YES */ + contentHeight = windowHeight - footerHeight; + navtreeHeight = windowHeight - headerHeight; + sideNavHeight = windowHeight; + } + navtree.css({height:navtreeHeight + "px"}); + sidenav.css({height:sideNavHeight + "px"}); + } + else + { + contentHeight = windowHeight - headerHeight; + } + content.css({height:contentHeight + "px"}); + if (location.hash.slice(1)) { + (document.getElementById(location.hash.slice(1))||document.body).scrollIntoView(); + } + } + + function collapseExpand() { + let newWidth; + if (sidenav.width()>0) { + newWidth=0; + } else { + const width = Cookie.readSetting(RESIZE_COOKIE_NAME,250); + newWidth = (width>250 && width<$(window).width()) ? width : 250; + } + restoreWidth(newWidth); + const sidenavWidth = $(sidenav).outerWidth(); + Cookie.writeSetting(RESIZE_COOKIE_NAME,sidenavWidth-barWidth); + } + + header = $("#top"); + content = $("#doc-content"); + footer = $("#nav-path"); + sidenav = $("#side-nav"); + if (!treeview) { +// title = $("#titlearea"); +// titleH = $(title).height(); +// let animating = false; +// content.on("scroll", function() { +// slideOpts = { duration: 200, +// step: function() { +// contentHeight = $(window).height() - header.outerHeight(); +// content.css({ height : contentHeight + "px" }); +// }, +// done: function() { animating=false; } +// }; +// if (content.scrollTop()>titleH && title.css('display')!='none' && !animating) { +// title.slideUp(slideOpts); +// animating=true; +// } else if (content.scrollTop()<=titleH && title.css('display')=='none' && !animating) { +// title.slideDown(slideOpts); +// animating=true; +// } +// }); + } else { + navtree = $("#nav-tree"); + $(".side-nav-resizable").resizable({resize: function(e, ui) { resizeWidth(); } }); + $(sidenav).resizable({ minWidth: 0 }); + } + $(window).resize(function() { resizeHeight(treeview); }); + if (treeview) + { + const device = navigator.userAgent.toLowerCase(); + const touch_device = device.match(/(iphone|ipod|ipad|android)/); + if (touch_device) { /* wider split bar for touch only devices */ + $(sidenav).css({ paddingRight:'20px' }); + $('.ui-resizable-e').css({ width:'20px' }); + $('#nav-sync').css({ right:'34px' }); + barWidth=20; + } + const width = Cookie.readSetting(RESIZE_COOKIE_NAME,250); + if (width) { restoreWidth(width); } else { resizeWidth(); } + } + resizeHeight(treeview); + const url = location.href; + const i=url.indexOf("#"); + if (i>=0) window.location.hash=url.substr(i); + const _preventDefault = function(evt) { evt.preventDefault(); }; + if (treeview) + { + $("#splitbar").bind("dragstart", _preventDefault).bind("selectstart", _preventDefault); + $(".ui-resizable-handle").dblclick(collapseExpand); + } + $(window).on('load',resizeHeight); +} +/* @license-end */ diff --git a/rh5__legs__floating__base_8cpp.html b/rh5__legs__floating__base_8cpp.html index 7541a7e0..17ddfffc 100644 --- a/rh5__legs__floating__base_8cpp.html +++ b/rh5__legs__floating__base_8cpp.html @@ -3,13 +3,15 @@ - + wbc: tutorials/rh5/rh5_legs_floating_base.cpp File Reference + + +
    +
    Functions
    @@ -80,12 +93,12 @@

    int main ( - ) + )

    -

    Velocity-based example, Cartesian position control on two 6 dof legs of the RH5 humanoid including floating base and two contact points (feet). In the example the following problem is solved:

    +

    Velocity-based example, Cartesian position control on two 6 dof legs of the RH5 humanoid including floating base and two contact points (feet). In the example the following problem is solved:

    \[ \begin{array}{ccc} minimize & \| \mathbf{J}_w\dot{\mathbf{q}} - \mathbf{v}_d \|_2\\ @@ -95,7 +108,7 @@

    +

    where

    \[ \mathbf{v}_d = \mathbf{K}_p(\mathbf{x}_r-\mathbf{x}) \] @@ -116,7 +129,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/rh5__single__leg_8cpp.html b/rh5__single__leg_8cpp.html index ada12217..1d06861a 100644 --- a/rh5__single__leg_8cpp.html +++ b/rh5__single__leg_8cpp.html @@ -3,13 +3,15 @@ - + wbc: tutorials/rh5/rh5_single_leg.cpp File Reference + + +
    +
    Functions
    @@ -78,12 +91,12 @@

    int main ( - ) + )

    -

    Velocity-based example, Cartesian position control on 6 dof leg of the RH5 humanoid (fixed base/fully actuated, serial robot model). In the example the following problem is solved:

    +

    Velocity-based example, Cartesian position control on 6 dof leg of the RH5 humanoid (fixed base/fully actuated, serial robot model). In the example the following problem is solved:

    \[ \begin{array}{ccc} minimize & \| \mathbf{J}_w\dot{\mathbf{q}} - \mathbf{v}_d\|_2\\ @@ -92,7 +105,7 @@

    +

    where

    \[ \mathbf{v}_d = \mathbf{K}_p(\mathbf{x}_r-\mathbf{x}) \] @@ -112,7 +125,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/rh5__single__leg__hybrid_8cpp.html b/rh5__single__leg__hybrid_8cpp.html index b269be6e..266d6bae 100644 --- a/rh5__single__leg__hybrid_8cpp.html +++ b/rh5__single__leg__hybrid_8cpp.html @@ -3,13 +3,15 @@ - + wbc: tutorials/rh5/rh5_single_leg_hybrid.cpp File Reference + + +
    +
    Functions
    @@ -78,7 +91,7 @@

    int main ( - ) + ) @@ -95,7 +108,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/rh5v2_8cpp.html b/rh5v2_8cpp.html index 6d49edb2..9e8d0ded 100644 --- a/rh5v2_8cpp.html +++ b/rh5v2_8cpp.html @@ -3,13 +3,15 @@ - + wbc: tutorials/rh5v2/rh5v2.cpp File Reference + + +
    +
    Functions
    @@ -78,12 +91,12 @@

    int main ( - ) + )

    -

    Acceleration-based example, Cartesian position control of the RH5v2 arms (fixed base, no contacts). In the example the following problem is solved:

    +

    Acceleration-based example, Cartesian position control of the RH5v2 arms (fixed base, no contacts). In the example the following problem is solved:

    \[ \begin{array}{ccc} minimize & \| \mathbf{J}\ddot{\mathbf{q}} - \dot{\mathbf{v}}_d + \dot{\mathbf{J}}\dot{\mathbf{q}}\|_2\\ @@ -93,7 +106,7 @@

    +

    where

    \[ \dot{\mathbf{v}}_d = \dot{\mathbf{v}}_r + \mathbf{K}_d(\mathbf{v}_r-\mathbf{v}) + \mathbf{K}_p(\mathbf{x}_r-\mathbf{x}) \] @@ -117,7 +130,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/rh5v2__hybrid_8cpp.html b/rh5v2__hybrid_8cpp.html index 0062405c..c35f9d55 100644 --- a/rh5v2__hybrid_8cpp.html +++ b/rh5v2__hybrid_8cpp.html @@ -3,13 +3,15 @@ - + wbc: tutorials/rh5v2/rh5v2_hybrid.cpp File Reference + + +
    +
    Functions
    @@ -77,7 +90,7 @@

    int main ( - ) + ) @@ -93,7 +106,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/structwbc_1_1ActivationFunction-members.html b/structwbc_1_1ActivationFunction-members.html index 84152dda..d4cf70a7 100644 --- a/structwbc_1_1ActivationFunction-members.html +++ b/structwbc_1_1ActivationFunction-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::ActivationFunction Member List
    @@ -65,7 +78,8 @@
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    +
    diff --git a/structwbc_1_1ActivationFunction.html b/structwbc_1_1ActivationFunction.html index b3961ed1..86e06958 100644 --- a/structwbc_1_1ActivationFunction.html +++ b/structwbc_1_1ActivationFunction.html @@ -3,13 +3,15 @@ - + wbc: wbc::ActivationFunction Struct Reference + + + +
    Public Member Functions | @@ -65,7 +78,7 @@ Public Member Functions

     ActivationFunction ()   -const base::VectorXd & compute (const base::VectorXd &values) +const base::VectorXd & compute (const base::VectorXd &values)   - +

    @@ -92,7 +105,7 @@

    wbc::ActivationFunction::ActivationFunction

    		())
    @@ -116,9 +129,9 @@

    - + - +
    const base::VectorXd & wbc::ActivationFunction::compute const base::VectorXd & wbc::ActivationFunction::compute (const base::VectorXd & values)const base::VectorXd & values)
    @@ -181,7 +194,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    + diff --git a/structwbc_1_1HierarchicalQP-members.html b/structwbc_1_1HierarchicalQP-members.html index 4e2669aa..8db222e2 100644 --- a/structwbc_1_1HierarchicalQP-members.html +++ b/structwbc_1_1HierarchicalQP-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + + +
    wbc::HierarchicalQP Member List
    @@ -68,7 +81,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    + diff --git a/structwbc_1_1HierarchicalQP.html b/structwbc_1_1HierarchicalQP.html index 1b752528..7ac54cd8 100644 --- a/structwbc_1_1HierarchicalQP.html +++ b/structwbc_1_1HierarchicalQP.html @@ -3,13 +3,15 @@ - + wbc: wbc::HierarchicalQP Struct Reference + + + +
    Public Member Functions | @@ -201,7 +214,7 @@

    size_t wbc::HierarchicalQP::size ( - ) + ) const @@ -265,7 +278,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

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    +
    wbc::PotentialFieldInfo Member List
    @@ -69,7 +82,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/structwbc_1_1PotentialFieldInfo.html b/structwbc_1_1PotentialFieldInfo.html index c01b29d3..3291af02 100644 --- a/structwbc_1_1PotentialFieldInfo.html +++ b/structwbc_1_1PotentialFieldInfo.html @@ -3,13 +3,15 @@ - + wbc: wbc::PotentialFieldInfo Struct Reference + + + +
    Public Member Functions | @@ -237,7 +250,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/structwbc_1_1QPSolverConfig-members.html b/structwbc_1_1QPSolverConfig-members.html index 24bedfd9..d614b9c9 100644 --- a/structwbc_1_1QPSolverConfig-members.html +++ b/structwbc_1_1QPSolverConfig-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::QPSolverConfig Member List
    @@ -65,7 +78,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/structwbc_1_1QPSolverConfig.html b/structwbc_1_1QPSolverConfig.html index cdadf547..d476363b 100644 --- a/structwbc_1_1QPSolverConfig.html +++ b/structwbc_1_1QPSolverConfig.html @@ -3,13 +3,15 @@ - + wbc: wbc::QPSolverConfig Struct Reference + + + +
    Public Member Functions | @@ -90,7 +103,7 @@

    wbc::QPSolverConfig::QPSolverConfig ( - ) + ) @@ -115,7 +128,7 @@

    wbc::QPSolverConfig::QPSolverConfig ( - const std::string type, + const std::string type, @@ -145,7 +158,7 @@

    void wbc::QPSolverConfig::validate ( - ) + ) @@ -193,7 +206,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/structwbc_1_1QPSolverFactory-members.html b/structwbc_1_1QPSolverFactory-members.html index 80a56188..cb028401 100644 --- a/structwbc_1_1QPSolverFactory-members.html +++ b/structwbc_1_1QPSolverFactory-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::QPSolverFactory Member List
    @@ -61,11 +74,12 @@ createInstance(const std::string &name)wbc::QPSolverFactoryinlinestatic createInstance(const std::string &name)wbc::QPSolverFactoryinlinestatic getQPSolverMap()wbc::QPSolverFactoryinlinestatic - QPSolverMap typedefwbc::QPSolverFactory + QPSolverMap typedefwbc::QPSolverFactory
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/structwbc_1_1QPSolverFactory.html b/structwbc_1_1QPSolverFactory.html index 36750c70..e4199660 100644 --- a/structwbc_1_1QPSolverFactory.html +++ b/structwbc_1_1QPSolverFactory.html @@ -3,13 +3,15 @@ - + wbc: wbc::QPSolverFactory Struct Reference + + + +
    Public Types | @@ -77,8 +90,8 @@ - - + +

    Public Types

    typedef std::map< std::string, QPSolver *(*)() QPSolverMap)
     
    typedef std::map< std::string, QPSolver *(*)()> QPSolverMap
     
    @@ -87,20 +100,20 @@ - +

    Static Public Member Functions

    template<typename T >
    static T * createInstance (const std::string &name)
     
    static QPSolverMap * getQPSolverMap ()
    static QPSolverMap * getQPSolverMap ()
     
    static void clear ()
     

    Member Typedef Documentation

    - -

    ◆ QPSolverMap

    + +

    ◆ QPSolverMap

    - +
    typedef std::map<std::string, QPSolver*(*)() wbc::QPSolverFactory::QPSolverMap) typedef std::map<std::string, QPSolver*(*)()> wbc::QPSolverFactory::QPSolverMap
    @@ -120,7 +133,7 @@

    static void wbc::QPSolverFactory::clear ( - ) + ) @@ -195,9 +208,9 @@

    - + - +
    static QPSolverMap * wbc::QPSolverFactory::getQPSolverMap static QPSolverMap * wbc::QPSolverFactory::getQPSolverMap ())
    @@ -217,7 +230,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/structwbc_1_1QPSolverRegistry-members.html b/structwbc_1_1QPSolverRegistry-members.html index 1fe556ff..8188225a 100644 --- a/structwbc_1_1QPSolverRegistry-members.html +++ b/structwbc_1_1QPSolverRegistry-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::QPSolverRegistry< T > Member List
    @@ -61,12 +74,13 @@ createInstance(const std::string &name)wbc::QPSolverFactoryinlinestatic createInstance(const std::string &name)wbc::QPSolverFactoryinlinestatic getQPSolverMap()wbc::QPSolverFactoryinlinestatic - QPSolverMap typedefwbc::QPSolverFactory + QPSolverMap typedefwbc::QPSolverFactory QPSolverRegistry(const std::string &name)wbc::QPSolverRegistry< T >inline
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/structwbc_1_1QPSolverRegistry.html b/structwbc_1_1QPSolverRegistry.html index 8d485357..a24b0b85 100644 --- a/structwbc_1_1QPSolverRegistry.html +++ b/structwbc_1_1QPSolverRegistry.html @@ -3,13 +3,15 @@ - + wbc: wbc::QPSolverRegistry< T > Struct Template Reference + + +
    +
    Public Member Functions | @@ -77,15 +90,15 @@

    Additional Inherited Members

    - Public Types inherited from wbc::QPSolverFactory -typedef std::map< std::string, QPSolver *(*)() QPSolverMap) -  +typedef std::map< std::string, QPSolver *(*)()> QPSolverMap +  - Static Public Member Functions inherited from wbc::QPSolverFactory static QPSolver * createInstance (const std::string &name)   template<typename T > static T * createInstance (const std::string &name)   -static QPSolverMap * getQPSolverMap () +static QPSolverMap * getQPSolverMap ()   static void clear ()   @@ -124,7 +137,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/structwbc_1_1QuadraticProgram-members.html b/structwbc_1_1QuadraticProgram-members.html index 89e6e249..e808d0df 100644 --- a/structwbc_1_1QuadraticProgram-members.html +++ b/structwbc_1_1QuadraticProgram-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::QuadraticProgram Member List
    @@ -77,7 +90,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/structwbc_1_1QuadraticProgram.html b/structwbc_1_1QuadraticProgram.html index f133c185..9add0d5e 100644 --- a/structwbc_1_1QuadraticProgram.html +++ b/structwbc_1_1QuadraticProgram.html @@ -3,13 +3,15 @@ - + wbc: wbc::QuadraticProgram Struct Reference + + +
    +
    Public Member Functions | @@ -126,7 +139,7 @@

    void wbc::QuadraticProgram::check ( - ) + ) const @@ -144,7 +157,7 @@

    void wbc::QuadraticProgram::print ( - ) + ) const @@ -162,17 +175,17 @@

    void wbc::QuadraticProgram::resize ( - uint nq, + uint nq, - uint neq, + uint neq, - uint nin, + uint nin, @@ -402,7 +415,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/structwbc_1_1RobotModelConfig-members.html b/structwbc_1_1RobotModelConfig-members.html index aa1df1ee..0e18756e 100644 --- a/structwbc_1_1RobotModelConfig-members.html +++ b/structwbc_1_1RobotModelConfig-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::RobotModelConfig Member List
    @@ -69,7 +82,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
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    diff --git a/structwbc_1_1RobotModelConfig.html b/structwbc_1_1RobotModelConfig.html index d2e696a7..33a6c3cc 100644 --- a/structwbc_1_1RobotModelConfig.html +++ b/structwbc_1_1RobotModelConfig.html @@ -3,13 +3,15 @@ - + wbc: wbc::RobotModelConfig Struct Reference + + + +
    Public Member Functions | @@ -103,7 +116,7 @@

    wbc::RobotModelConfig::RobotModelConfig ( - ) + ) @@ -128,22 +141,22 @@

    wbc::RobotModelConfig::RobotModelConfig ( - const std::string & file_or_string, + const std::string & file_or_string, - const bool floating_base = false, + const bool floating_base = false, - const ActiveContacts & contact_points = ActiveContacts(), + const ActiveContacts & contact_points = ActiveContacts(), - const std::string & submechanism_file = "" ) + const std::string & submechanism_file = "" ) @@ -168,7 +181,7 @@

    void wbc::RobotModelConfig::validate ( - ) + ) @@ -277,7 +290,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/structwbc_1_1RobotModelFactory-members.html b/structwbc_1_1RobotModelFactory-members.html index 066781aa..9ced041f 100644 --- a/structwbc_1_1RobotModelFactory-members.html +++ b/structwbc_1_1RobotModelFactory-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::RobotModelFactory Member List
    @@ -61,11 +74,12 @@ createInstance(const std::string &name)wbc::RobotModelFactoryinlinestatic createInstance(const std::string &name)wbc::RobotModelFactoryinlinestatic getRobotModelMap()wbc::RobotModelFactoryinlinestatic - RobotModelMap typedefwbc::RobotModelFactory + RobotModelMap typedefwbc::RobotModelFactory
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/structwbc_1_1RobotModelFactory.html b/structwbc_1_1RobotModelFactory.html index b57aefda..dfef0c58 100644 --- a/structwbc_1_1RobotModelFactory.html +++ b/structwbc_1_1RobotModelFactory.html @@ -3,13 +3,15 @@ - + wbc: wbc::RobotModelFactory Struct Reference + + + +
    Public Types | @@ -76,8 +89,8 @@ - - + +

    Public Types

    typedef std::map< std::string, RobotModel *(*)() RobotModelMap)
     
    typedef std::map< std::string, RobotModel *(*)()> RobotModelMap
     
    @@ -86,20 +99,20 @@ - +

    Static Public Member Functions

    template<typename T >
    static T * createInstance (const std::string &name)
     
    static RobotModelMap * getRobotModelMap ()
    static RobotModelMap * getRobotModelMap ()
     
    static void clear ()
     

    Member Typedef Documentation

    - -

    ◆ RobotModelMap

    + +

    ◆ RobotModelMap

    - +
    typedef std::map<std::string, RobotModel*(*)() wbc::RobotModelFactory::RobotModelMap) typedef std::map<std::string, RobotModel*(*)()> wbc::RobotModelFactory::RobotModelMap
    @@ -119,7 +132,7 @@

    static void wbc::RobotModelFactory::clear ( - ) + ) @@ -194,9 +207,9 @@

    - + - +
    static RobotModelMap * wbc::RobotModelFactory::getRobotModelMap static RobotModelMap * wbc::RobotModelFactory::getRobotModelMap ())
    @@ -216,7 +229,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/structwbc_1_1RobotModelRegistry-members.html b/structwbc_1_1RobotModelRegistry-members.html index 6809eb5b..6108b9e0 100644 --- a/structwbc_1_1RobotModelRegistry-members.html +++ b/structwbc_1_1RobotModelRegistry-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::RobotModelRegistry< T > Member List
    @@ -61,12 +74,13 @@ createInstance(const std::string &name)wbc::RobotModelFactoryinlinestatic createInstance(const std::string &name)wbc::RobotModelFactoryinlinestatic getRobotModelMap()wbc::RobotModelFactoryinlinestatic - RobotModelMap typedefwbc::RobotModelFactory + RobotModelMap typedefwbc::RobotModelFactory RobotModelRegistry(const std::string &name)wbc::RobotModelRegistry< T >inline
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/structwbc_1_1RobotModelRegistry.html b/structwbc_1_1RobotModelRegistry.html index 1644c3a1..cd2a2b3f 100644 --- a/structwbc_1_1RobotModelRegistry.html +++ b/structwbc_1_1RobotModelRegistry.html @@ -3,13 +3,15 @@ - + wbc: wbc::RobotModelRegistry< T > Struct Template Reference + + +
    +
    Public Member Functions | @@ -77,15 +90,15 @@

    Additional Inherited Members

    - Public Types inherited from wbc::RobotModelFactory -typedef std::map< std::string, RobotModel *(*)() RobotModelMap) -  +typedef std::map< std::string, RobotModel *(*)()> RobotModelMap +  - Static Public Member Functions inherited from wbc::RobotModelFactory static RobotModel * createInstance (const std::string &name)   template<typename T > static T * createInstance (const std::string &name)   -static RobotModelMap * getRobotModelMap () +static RobotModelMap * getRobotModelMap ()   static void clear ()   @@ -124,7 +137,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/structwbc_1_1SceneConfig-members.html b/structwbc_1_1SceneConfig-members.html index 71eac098..27037167 100644 --- a/structwbc_1_1SceneConfig-members.html +++ b/structwbc_1_1SceneConfig-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::SceneConfig Member List
    @@ -65,7 +78,8 @@
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/structwbc_1_1SceneConfig.html b/structwbc_1_1SceneConfig.html index ab708178..b4e6ba0b 100644 --- a/structwbc_1_1SceneConfig.html +++ b/structwbc_1_1SceneConfig.html @@ -3,13 +3,15 @@ - + wbc: wbc::SceneConfig Struct Reference + + +
    +
    Public Member Functions | @@ -90,7 +103,7 @@

    wbc::SceneConfig::SceneConfig ( - ) + ) @@ -115,7 +128,7 @@

    wbc::SceneConfig::SceneConfig ( - const std::string type, + const std::string type, @@ -145,7 +158,7 @@

    void wbc::SceneConfig::validate ( - ) + ) @@ -193,7 +206,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/structwbc_1_1SceneFactory-members.html b/structwbc_1_1SceneFactory-members.html index 73b7e7d1..f7d6d028 100644 --- a/structwbc_1_1SceneFactory-members.html +++ b/structwbc_1_1SceneFactory-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::SceneFactory Member List
    @@ -61,11 +74,12 @@ createInstance(const std::string &name, RobotModelPtr robot_model, QPSolverPtr solver, const double dt)wbc::SceneFactoryinlinestatic createInstance(const std::string &name, RobotModelPtr robot_model, QPSolverPtr solver, const double dt)wbc::SceneFactoryinlinestatic getSceneMap()wbc::SceneFactoryinlinestatic - SceneMap typedefwbc::SceneFactory + SceneMap typedefwbc::SceneFactory
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/structwbc_1_1SceneFactory.html b/structwbc_1_1SceneFactory.html index 4966024e..5d877550 100644 --- a/structwbc_1_1SceneFactory.html +++ b/structwbc_1_1SceneFactory.html @@ -3,13 +3,15 @@ - + wbc: wbc::SceneFactory Struct Reference + + + +
    Public Types | @@ -77,8 +90,8 @@ - - + +

    Public Types

    typedef std::map< std::string, Scene *(*)(RobotModelPtr, QPSolverPtr, double) SceneMap)
     
    typedef std::map< std::string, Scene *(*)(RobotModelPtr, QPSolverPtr, double)> SceneMap
     
    @@ -87,20 +100,20 @@ - +

    Static Public Member Functions

    template<typename T >
    static T * createInstance (const std::string &name, RobotModelPtr robot_model, QPSolverPtr solver, const double dt)
     
    static SceneMap * getSceneMap ()
    static SceneMap * getSceneMap ()
     
    static void clear ()
     

    Member Typedef Documentation

    - -

    ◆ SceneMap

    + +

    ◆ SceneMap

    - +
    typedef std::map<std::string, Scene*(*)(RobotModelPtr, QPSolverPtr, double) wbc::SceneFactory::SceneMap) typedef std::map<std::string, Scene*(*)(RobotModelPtr, QPSolverPtr, double)> wbc::SceneFactory::SceneMap
    @@ -120,7 +133,7 @@

    static void wbc::SceneFactory::clear ( - ) + ) @@ -145,17 +158,17 @@

    static Scene * wbc::SceneFactory::createInstance ( - const std::string & name, + const std::string & name, - RobotModelPtr robot_model, + RobotModelPtr robot_model, - QPSolverPtr solver, + QPSolverPtr solver, @@ -186,17 +199,17 @@

    static T * wbc::SceneFactory::createInstance ( - const std::string & name, + const std::string & name, - RobotModelPtr robot_model, + RobotModelPtr robot_model, - QPSolverPtr solver, + QPSolverPtr solver, @@ -223,9 +236,9 @@

    - + - +
    static SceneMap * wbc::SceneFactory::getSceneMap static SceneMap * wbc::SceneFactory::getSceneMap ())
    @@ -245,7 +258,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/structwbc_1_1SceneRegistry-members.html b/structwbc_1_1SceneRegistry-members.html index ec14289c..35b4e769 100644 --- a/structwbc_1_1SceneRegistry-members.html +++ b/structwbc_1_1SceneRegistry-members.html @@ -3,13 +3,15 @@ - + wbc: Member List + + +
    +
    wbc::SceneRegistry< T > Member List
    @@ -61,12 +74,13 @@ createInstance(const std::string &name, RobotModelPtr robot_model, QPSolverPtr solver, const double dt)wbc::SceneFactoryinlinestatic createInstance(const std::string &name, RobotModelPtr robot_model, QPSolverPtr solver, const double dt)wbc::SceneFactoryinlinestatic getSceneMap()wbc::SceneFactoryinlinestatic - SceneMap typedefwbc::SceneFactory + SceneMap typedefwbc::SceneFactory SceneRegistry(const std::string &name)wbc::SceneRegistry< T >inline
    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +
    diff --git a/structwbc_1_1SceneRegistry.html b/structwbc_1_1SceneRegistry.html index 76a69761..c7d6e742 100644 --- a/structwbc_1_1SceneRegistry.html +++ b/structwbc_1_1SceneRegistry.html @@ -3,13 +3,15 @@ - + wbc: wbc::SceneRegistry< T > Struct Template Reference + + +
    +
    Public Member Functions | @@ -77,15 +90,15 @@

    Additional Inherited Members

    - Public Types inherited from wbc::SceneFactory -typedef std::map< std::string, Scene *(*)(RobotModelPtr, QPSolverPtr, double) SceneMap) -  +typedef std::map< std::string, Scene *(*)(RobotModelPtr, QPSolverPtr, double)> SceneMap +  - Static Public Member Functions inherited from wbc::SceneFactory static Scene * createInstance (const std::string &name, RobotModelPtr robot_model, QPSolverPtr solver, const double dt)   template<typename T > static T * createInstance (const std::string &name, RobotModelPtr robot_model, QPSolverPtr solver, const double dt)   -static SceneMap * getSceneMap () +static SceneMap * getSceneMap ()   static void clear ()   @@ -124,7 +137,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/test__acceleration__scene_8cpp.html b/test__acceleration__scene_8cpp.html index 986f2103..337ef4bf 100644 --- a/test__acceleration__scene_8cpp.html +++ b/test__acceleration__scene_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/scenes/acceleration/test/test_acceleration_scene.cpp File Reference + + +
    +
    Macros | @@ -113,7 +126,7 @@

    BOOST_AUTO_TEST_CASE ( - simple_test ) + simple_test ) @@ -125,7 +138,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/test__acceleration__scene__reduced__tsid_8cpp.html b/test__acceleration__scene__reduced__tsid_8cpp.html index 1fec2dd5..aed5d730 100644 --- a/test__acceleration__scene__reduced__tsid_8cpp.html +++ b/test__acceleration__scene__reduced__tsid_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/scenes/acceleration_reduced_tsid/test/test_acceleration_scene_reduced_tsid.cpp File Reference + + +
    +
    Macros | @@ -113,7 +126,7 @@

    BOOST_AUTO_TEST_CASE ( - simple_test ) + simple_test ) @@ -125,7 +138,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/test__acceleration__scene__tsid_8cpp.html b/test__acceleration__scene__tsid_8cpp.html index 02e77260..05636802 100644 --- a/test__acceleration__scene__tsid_8cpp.html +++ b/test__acceleration__scene__tsid_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/scenes/acceleration_tsid/test/test_acceleration_scene_tsid.cpp File Reference + + +
    +
    Macros | @@ -113,7 +126,7 @@

    BOOST_AUTO_TEST_CASE ( - simple_test ) + simple_test ) @@ -125,7 +138,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/test__core_8cpp.html b/test__core_8cpp.html index e2772961..6d84bbb5 100644 --- a/test__core_8cpp.html +++ b/test__core_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/core/test/test_core.cpp File Reference + + +
    +
    Macros | @@ -121,7 +134,7 @@

    BOOST_AUTO_TEST_CASE ( - qp_solver_factory ) + qp_solver_factory ) @@ -138,7 +151,7 @@

    BOOST_AUTO_TEST_CASE ( - robot_model_factory ) + robot_model_factory ) @@ -155,7 +168,7 @@

    BOOST_AUTO_TEST_CASE ( - scene_factory ) + scene_factory ) @@ -172,7 +185,7 @@

    BOOST_AUTO_TEST_CASE ( - task_config ) + task_config ) @@ -183,7 +196,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/test__eiquadprog__solver_8cpp.html b/test__eiquadprog__solver_8cpp.html index 74bde404..782b15c9 100644 --- a/test__eiquadprog__solver_8cpp.html +++ b/test__eiquadprog__solver_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/solvers/eiquadprog/test/test_eiquadprog_solver.cpp File Reference + + +
    +
    Macros | @@ -118,7 +131,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_eiquadprog_bounded ) + solver_eiquadprog_bounded ) @@ -135,7 +148,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_qp_oases_with_equality_constraints ) + solver_qp_oases_with_equality_constraints ) @@ -152,7 +165,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_qp_oases_without_constraints ) + solver_qp_oases_without_constraints ) @@ -163,7 +176,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/test__hls__solver_8cpp.html b/test__hls__solver_8cpp.html index 17dd3cbe..cb9a2c6a 100644 --- a/test__hls__solver_8cpp.html +++ b/test__hls__solver_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/solvers/hls/test/test_hls_solver.cpp File Reference + + +
    +
    Macros | @@ -114,7 +127,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_hls ) + solver_hls ) @@ -125,7 +138,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/test__model__consistency_8cpp.html b/test__model__consistency_8cpp.html index bf1b2a51..62e2c45a 100644 --- a/test__model__consistency_8cpp.html +++ b/test__model__consistency_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/robot_models/test/test_model_consistency.cpp File Reference + + +
    +
    Macros | @@ -127,7 +140,7 @@

    BOOST_AUTO_TEST_CASE ( - fixed_base ) + fixed_base ) @@ -144,32 +157,32 @@

    void compareJacobian ( - base::MatrixXd mat_a, + base::MatrixXd mat_a, - base::MatrixXd mat_b, + base::MatrixXd mat_b, - vector< string > joint_names_a, + vector< string > joint_names_a, - vector< string > joint_names_b, + vector< string > joint_names_b, - bool floating_base, + bool floating_base, - double default_accuracy = 1e-3 ) + double default_accuracy = 1e-3 )

    @@ -185,27 +198,27 @@

    void compareMassInertiaMat ( - base::MatrixXd mat_a, + base::MatrixXd mat_a, - base::MatrixXd mat_b, + base::MatrixXd mat_b, - vector< string > joint_names_a, + vector< string > joint_names_a, - vector< string > joint_names_b, + vector< string > joint_names_b, - double default_accuracy = 1e-3 ) + double default_accuracy = 1e-3 )

    @@ -221,17 +234,17 @@

    void compareRbs ( - base::samples::RigidBodyStateSE3 rbs_a, + base::samples::RigidBodyStateSE3 rbs_a, - base::samples::RigidBodyStateSE3 rbs_b, + base::samples::RigidBodyStateSE3 rbs_b, - double default_accuracy = 1e-3 ) + double default_accuracy = 1e-3 )

    @@ -247,17 +260,17 @@

    void compareRobotModels ( - RobotModelConfig cfg, + RobotModelConfig cfg, - string tip_frame, + string tip_frame, - bool verbose = false ) + bool verbose = false )

    @@ -273,27 +286,27 @@

    void compareVect ( - base::VectorXd vect_a, + base::VectorXd vect_a, - base::VectorXd vect_b, + base::VectorXd vect_b, - vector< string > joint_names_a, + vector< string > joint_names_a, - vector< string > joint_names_b, + vector< string > joint_names_b, - double default_accuracy = 1e-3 ) + double default_accuracy = 1e-3 )

    @@ -309,7 +322,7 @@

    uint jointIdx ( - vector< string > joint_names, + vector< string > joint_names, @@ -324,7 +337,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/test__osqp__solver_8cpp.html b/test__osqp__solver_8cpp.html new file mode 100644 index 00000000..63783906 --- /dev/null +++ b/test__osqp__solver_8cpp.html @@ -0,0 +1,183 @@ + + + + + + + +wbc: src/solvers/osqp/test/test_osqp_solver.cpp File Reference + + + + + + + + + + + +
    +
    + + + + + + +
    +
    wbc +
    +
    +
    + + + + + + + + + +
    +
    +
    +
    +Macros | +Functions
    +
    test_osqp_solver.cpp File Reference
    +
    +
    +
    #include <boost/test/unit_test.hpp>
    +#include <iostream>
    +#include <sys/time.h>
    +#include "../../../core/QuadraticProgram.hpp"
    +#include "../OsqpSolver.hpp"
    +
    + + + + + +

    +Macros

    #define BOOST_TEST_DYN_LINK
     
    #define BOOST_TEST_MAIN
     
    + + + + + + + +

    +Functions

     BOOST_AUTO_TEST_CASE (solver_without_constraints)
     
     BOOST_AUTO_TEST_CASE (solver_with_equality_constraints)
     
     BOOST_AUTO_TEST_CASE (solver_bounded)
     
    +

    Macro Definition Documentation

    + +

    ◆ BOOST_TEST_DYN_LINK

    + +
    +
    + + + + +
    #define BOOST_TEST_DYN_LINK
    +
    + +
    +
    + +

    ◆ BOOST_TEST_MAIN

    + +
    +
    + + + + +
    #define BOOST_TEST_MAIN
    +
    + +
    +
    +

    Function Documentation

    + +

    ◆ BOOST_AUTO_TEST_CASE() [1/3]

    + +
    +
    + + + + + + + +
    BOOST_AUTO_TEST_CASE (solver_bounded )
    +
    + +
    +
    + +

    ◆ BOOST_AUTO_TEST_CASE() [2/3]

    + +
    +
    + + + + + + + +
    BOOST_AUTO_TEST_CASE (solver_with_equality_constraints )
    +
    + +
    +
    + +

    ◆ BOOST_AUTO_TEST_CASE() [3/3]

    + +
    +
    + + + + + + + +
    BOOST_AUTO_TEST_CASE (solver_without_constraints )
    +
    + +
    +
    +
    + +
    +Generated by doxygen 1.11.0 +
    +
    + + diff --git a/test__pid__controllers_8cpp.html b/test__pid__controllers_8cpp.html index d2df79a3..d4f3e13f 100644 --- a/test__pid__controllers_8cpp.html +++ b/test__pid__controllers_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/controllers/test/test_pid_controllers.cpp File Reference + + +
    +
    Macros | @@ -115,7 +128,7 @@

    BOOST_AUTO_TEST_CASE ( - configuration_test ) + configuration_test ) @@ -132,7 +145,7 @@

    BOOST_AUTO_TEST_CASE ( - joint_torque_controller_test ) + joint_torque_controller_test ) @@ -143,7 +156,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/test__pos__pd__controllers_8cpp.html b/test__pos__pd__controllers_8cpp.html index 9a6fcce7..de890a93 100644 --- a/test__pos__pd__controllers_8cpp.html +++ b/test__pos__pd__controllers_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/controllers/test/test_pos_pd_controllers.cpp File Reference + + +
    +
    Macros | @@ -120,7 +133,7 @@

    BOOST_AUTO_TEST_CASE ( - cart_pos_pd_controller ) + cart_pos_pd_controller ) @@ -137,7 +150,7 @@

    BOOST_AUTO_TEST_CASE ( - configuration_test ) + configuration_test ) @@ -154,7 +167,7 @@

    BOOST_AUTO_TEST_CASE ( - jnt_pos_pd_controller ) + jnt_pos_pd_controller ) @@ -165,7 +178,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/test__pot__field__controllers_8cpp.html b/test__pot__field__controllers_8cpp.html index 96f3c60d..a1c86eb3 100644 --- a/test__pot__field__controllers_8cpp.html +++ b/test__pot__field__controllers_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/controllers/test/test_pot_field_controllers.cpp File Reference + + +
    +
    Macros | @@ -128,7 +141,7 @@

    BOOST_AUTO_TEST_CASE ( - constrained_radial_field ) + constrained_radial_field ) @@ -145,7 +158,7 @@

    BOOST_AUTO_TEST_CASE ( - joint_limit_avoidance ) + joint_limit_avoidance ) @@ -162,7 +175,7 @@

    BOOST_AUTO_TEST_CASE ( - multi_radial_field ) + multi_radial_field ) @@ -179,7 +192,7 @@

    BOOST_AUTO_TEST_CASE ( - planar_field ) + planar_field ) @@ -196,7 +209,7 @@

    BOOST_AUTO_TEST_CASE ( - radial_field ) + radial_field ) @@ -230,17 +243,17 @@

    void runPotentialFieldController ( - std::string filename, + std::string filename, - CartesianPotentialFieldsController * ctrl, + CartesianPotentialFieldsController * ctrl, - base::samples::RigidBodyStateSE3 start_pos, + base::samples::RigidBodyStateSE3 start_pos, @@ -255,7 +268,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/test__proxqp__solver_8cpp.html b/test__proxqp__solver_8cpp.html index d2d4e9f0..1ce28234 100644 --- a/test__proxqp__solver_8cpp.html +++ b/test__proxqp__solver_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/solvers/proxqp/test/test_proxqp_solver.cpp File Reference + + +
    +
    Macros | @@ -120,7 +133,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_proxqp_bounded ) + solver_proxqp_bounded ) @@ -137,7 +150,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_proxqp_with_equality_constraints ) + solver_proxqp_with_equality_constraints ) @@ -154,7 +167,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_proxqp_with_inequality_constraints ) + solver_proxqp_with_inequality_constraints ) @@ -171,7 +184,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_proxqp_without_constraints ) + solver_proxqp_without_constraints ) @@ -182,7 +195,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/test__qpoases__solver_8cpp.html b/test__qpoases__solver_8cpp.html index 682446e5..383d02f3 100644 --- a/test__qpoases__solver_8cpp.html +++ b/test__qpoases__solver_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/solvers/qpoases/test/test_qpoases_solver.cpp File Reference + + +
    +
    Macros | @@ -120,7 +133,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_qp_oases_with_equality_constraints ) + solver_qp_oases_with_equality_constraints ) @@ -137,7 +150,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_qp_oases_with_inequalities_constraints ) + solver_qp_oases_with_inequalities_constraints ) @@ -154,7 +167,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_qp_oases_without_constraints ) + solver_qp_oases_without_constraints ) @@ -171,7 +184,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_qpoases_bounded ) + solver_qpoases_bounded ) @@ -182,7 +195,8 @@

    -Generated by doxygen 1.10.0 +Generated by doxygen 1.11.0
    +

    diff --git a/test__qpswift__solver_8cpp.html b/test__qpswift__solver_8cpp.html index 2cbf2c23..5f5aa278 100644 --- a/test__qpswift__solver_8cpp.html +++ b/test__qpswift__solver_8cpp.html @@ -3,13 +3,15 @@ - + wbc: src/solvers/qpswift/test/test_qpswift_solver.cpp File Reference + + +
    +
    Macros | @@ -116,7 +129,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_qp_swift_with_equality_constraints ) + solver_qp_swift_with_equality_constraints ) @@ -133,7 +146,7 @@

    BOOST_AUTO_TEST_CASE ( - solver_qp_swift_without_constraints ) + solver_qp_swift_without_constraints ) @@ -144,7 +157,8 @@

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