ocra::ContactAvoidanceConstraint Class Reference

#include <ContactAvoidanceConstraint.h>

Inheritance diagram for ocra::ContactAvoidanceConstraint:

Collaboration diagram for ocra::ContactAvoidanceConstraint:

Public Member Functions
	ContactAvoidanceConstraint (const Model &model, double hpos, double margin)
virtual	~ContactAvoidanceConstraint ()
double	getHorizonOfPrediction () const
void	setHorizonOfPrediction (double newHpos)
double	getMargin () const
void	setMargin (double newMargin)
void	updateContactInformation (const Eigen::MatrixXd &_JObst, const Eigen::VectorXd &_dJdqOst, const Eigen::VectorXd &_distObst, const Eigen::VectorXd &_velObst)
Public Member Functions inherited from ocra::ControlConstraint
	ControlConstraint ()
virtual	~ControlConstraint ()
LinearConstraint &	getConstraint ()

Protected Member Functions
virtual void	connectToController (const FullDynamicEquationFunction &dynamicEquation, bool useReducedProblem)
virtual void	disconnectFromController ()

Additional Inherited Members
Protected Attributes inherited from ocra::ControlConstraint
boost::shared_ptr< Constraint< LinearFunction > >	_constraint

Detailed Description

Definition at line 171 of file ContactAvoidanceConstraint.h.

Constructor & Destructor Documentation

ContactAvoidanceConstraint::ContactAvoidanceConstraint	(	const Model &	model,
		double	hpos,
		double	margin
	)

Definition at line 329 of file ContactAvoidanceConstraint.cpp.

virtual ocra::ContactAvoidanceConstraint::~ContactAvoidanceConstraint ( )

inlinevirtual

Definition at line 175 of file ContactAvoidanceConstraint.h.

Member Function Documentation

void ContactAvoidanceConstraint::connectToController ( const FullDynamicEquationFunction &  dynamicEquation, bool  useReducedProblem  )

protectedvirtual

Implements ocra::ControlConstraint.

Definition at line 373 of file ContactAvoidanceConstraint.cpp.

void ContactAvoidanceConstraint::disconnectFromController ( )

protectedvirtual

Implements ocra::ControlConstraint.

Definition at line 388 of file ContactAvoidanceConstraint.cpp.

double ContactAvoidanceConstraint::getHorizonOfPrediction

(

)

const

Definition at line 338 of file ContactAvoidanceConstraint.cpp.

double ContactAvoidanceConstraint::getMargin

(

)

const

Definition at line 351 of file ContactAvoidanceConstraint.cpp.

void ContactAvoidanceConstraint::setHorizonOfPrediction

(

double

newHpos

)

Definition at line 343 of file ContactAvoidanceConstraint.cpp.

void ContactAvoidanceConstraint::setMargin

(

double

newMargin

)

Definition at line 356 of file ContactAvoidanceConstraint.cpp.

void ContactAvoidanceConstraint::updateContactInformation	(	const Eigen::MatrixXd &	_JObst,
		const Eigen::VectorXd &	_dJdqOst,
		const Eigen::VectorXd &	_distObst,
		const Eigen::VectorXd &	_velObst
	)

Definition at line 364 of file ContactAvoidanceConstraint.cpp.

---

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

• ContactAvoidanceConstraint.h
• ContactAvoidanceConstraint.cpp