OneLevelSolver.h File Reference

Define the internal solver class that can be used in the wOcra controller. More...

#include "ocra/optim/Solver.h"
#include "ocra/optim/Objective.h"
#include "ocra/optim/QuadraticFunction.h"
#include "ocra/optim/SquaredLinearFunction.h"
#include "ocra/optim/MergedVariable.h"
#include "ocra/optim/ObjQLD.h"
#include "ocra/control/ControlEnum.h"
#include "ocra/control/Model.h"
#include <ocra/util/ErrorsHelper.h>
#include "ocra/optim/QuadProg++.h"
#include <string>
#include <Eigen/SVD>
#include <qpOASES.hpp>
#include <mutex>

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Classes
class	ocra::OneLevelSolver
	A generic abstract class the solvers that can be used in the wOcra Controller. More...
class	ocra::OneLevelSolverWithQuadProg
	Solver class that only consider one level of importance for all tasks using Quadprog++. More...
class	ocra::OneLevelSolverWithQPOASES
	Solver class that only consider one level of importance for all tasks using QPOASES. More...
class	ocra::OneLevelSolverWithQLD
	Solver class that only consider one level of importance for all tasks using QLD. More...

Namespaces
	ocra
	Optimization-based Robot Controller namespace. a library of classes to write and solve optimization problems dedicated to the control of multi-body systems.

Typedefs
typedef Eigen::Map< Eigen::MatrixXd >	ocra::MatrixMap
typedef Eigen::Map< Eigen::VectorXd >	ocra::VectorMap
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	ocra::MatrixXdRm

Detailed Description

Define the internal solver class that can be used in the wOcra controller.

Author

Joseph Salini

Here, only an abstract class is defined.

Definition in file OneLevelSolver.h.