gocra::GHCJTTask::Pimpl Struct Reference

Collaboration diagram for gocra::GHCJTTask::Pimpl:

Public Member Functions
	Pimpl (const std::string &name, const Model &m, const Feature &s)
	~Pimpl ()
void	connectFunctionnWithObjectiveAndConstraint ()

Public Attributes
const std::string &	name
const Model &	innerModel
bool	isFreeFloating
ocra::OneLevelSolver *	solver
SumOfLinearFunctions *	seConstraint
boost::shared_ptr< LinearFunction >	taskSEConstraintFunction
bool	useGSHC
ocra::BaseVariable	fcVar
double	weight
MatrixXd	alpha
MatrixXd	projector
MatrixXd	taskiProjector
const Feature &	feature
int	indexBegin
int	indexEnd
bool	taskHasBeenInitialized
boost::shared_ptr< LinearizedCoulombFunction >	frictionFunction
LessThanZeroConstraintPtr< LinearizedCoulombFunction >	frictionConstraint
bool	contactForceConstraintHasBeenSavedInSolver
bool	contactPointHasBeenSavedInModel
bool	frictionConstraintIsRegisteredInConstraint
bool	isRegisteredAsObjective
bool	isRegisteredAsConstraint
bool	isPointContactTask
LinearFunction *	innerObjectiveFunction
Objective< SquaredLinearFunction > *	innerTaskAsObjective
EqualZeroConstraintPtr< LinearFunction >	innerTaskAsConstraint
LinearFunction *	regulationObjectiveFunction
Objective< SquaredLinearFunction > *	regulationObjective

Detailed Description

Definition at line 26 of file GHCJTTask.cpp.

Constructor & Destructor Documentation

gocra::GHCJTTask::Pimpl::Pimpl ( const std::string &  name, const Model &  m, const Feature &  s  )

inline

Definition at line 67 of file GHCJTTask.cpp.

gocra::GHCJTTask::Pimpl::~Pimpl ( )

inline

Definition at line 112 of file GHCJTTask.cpp.

Member Function Documentation

void gocra::GHCJTTask::Pimpl::connectFunctionnWithObjectiveAndConstraint ( )

inline

Definition at line 128 of file GHCJTTask.cpp.

Member Data Documentation

MatrixXd gocra::GHCJTTask::Pimpl::alpha

Definition at line 39 of file GHCJTTask.cpp.

bool gocra::GHCJTTask::Pimpl::contactForceConstraintHasBeenSavedInSolver

Definition at line 50 of file GHCJTTask.cpp.

bool gocra::GHCJTTask::Pimpl::contactPointHasBeenSavedInModel

Definition at line 51 of file GHCJTTask.cpp.

ocra::BaseVariable gocra::GHCJTTask::Pimpl::fcVar

Definition at line 35 of file GHCJTTask.cpp.

const Feature& gocra::GHCJTTask::Pimpl::feature

Definition at line 42 of file GHCJTTask.cpp.

LessThanZeroConstraintPtr<LinearizedCoulombFunction> gocra::GHCJTTask::Pimpl::frictionConstraint

Definition at line 48 of file GHCJTTask.cpp.

bool gocra::GHCJTTask::Pimpl::frictionConstraintIsRegisteredInConstraint

Definition at line 52 of file GHCJTTask.cpp.

boost::shared_ptr<LinearizedCoulombFunction> gocra::GHCJTTask::Pimpl::frictionFunction

Definition at line 47 of file GHCJTTask.cpp.

int gocra::GHCJTTask::Pimpl::indexBegin

Definition at line 43 of file GHCJTTask.cpp.

int gocra::GHCJTTask::Pimpl::indexEnd

Definition at line 44 of file GHCJTTask.cpp.

const Model& gocra::GHCJTTask::Pimpl::innerModel

Definition at line 29 of file GHCJTTask.cpp.

LinearFunction* gocra::GHCJTTask::Pimpl::innerObjectiveFunction

Definition at line 60 of file GHCJTTask.cpp.

EqualZeroConstraintPtr<LinearFunction> gocra::GHCJTTask::Pimpl::innerTaskAsConstraint

Definition at line 62 of file GHCJTTask.cpp.

Objective<SquaredLinearFunction>* gocra::GHCJTTask::Pimpl::innerTaskAsObjective

Definition at line 61 of file GHCJTTask.cpp.

bool gocra::GHCJTTask::Pimpl::isFreeFloating

Definition at line 30 of file GHCJTTask.cpp.

bool gocra::GHCJTTask::Pimpl::isPointContactTask

Definition at line 57 of file GHCJTTask.cpp.

bool gocra::GHCJTTask::Pimpl::isRegisteredAsConstraint

Definition at line 56 of file GHCJTTask.cpp.

bool gocra::GHCJTTask::Pimpl::isRegisteredAsObjective

Definition at line 55 of file GHCJTTask.cpp.

const std::string& gocra::GHCJTTask::Pimpl::name

Definition at line 28 of file GHCJTTask.cpp.

MatrixXd gocra::GHCJTTask::Pimpl::projector

Definition at line 40 of file GHCJTTask.cpp.

Objective<SquaredLinearFunction>* gocra::GHCJTTask::Pimpl::regulationObjective

Definition at line 65 of file GHCJTTask.cpp.

LinearFunction* gocra::GHCJTTask::Pimpl::regulationObjectiveFunction

Definition at line 64 of file GHCJTTask.cpp.

SumOfLinearFunctions* gocra::GHCJTTask::Pimpl::seConstraint

Definition at line 32 of file GHCJTTask.cpp.

ocra::OneLevelSolver* gocra::GHCJTTask::Pimpl::solver

Definition at line 31 of file GHCJTTask.cpp.

bool gocra::GHCJTTask::Pimpl::taskHasBeenInitialized

Definition at line 46 of file GHCJTTask.cpp.

MatrixXd gocra::GHCJTTask::Pimpl::taskiProjector

Definition at line 41 of file GHCJTTask.cpp.

boost::shared_ptr<LinearFunction> gocra::GHCJTTask::Pimpl::taskSEConstraintFunction

Definition at line 33 of file GHCJTTask.cpp.

bool gocra::GHCJTTask::Pimpl::useGSHC

Definition at line 34 of file GHCJTTask.cpp.

double gocra::GHCJTTask::Pimpl::weight

Definition at line 38 of file GHCJTTask.cpp.

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

• GHCJTTask.cpp