ContactAvoidanceConstraint.h File Reference

Define contact avoidance constraint for wOcra controller. More...

#include "ocra/control/ControlConstraint.h"

Include dependency graph for ContactAvoidanceConstraint.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	ocra::ContactAvoidanceFunction
	Create a linear function that represents the joint limit function. More...
class	ocra::FullContactAvoidanceFunction
	Create a linear function that represents the contact avoidance function for the full formalism. More...
class	ocra::ReducedContactAvoidanceFunction
	Create a linear function that represents the contact avoidance function for the reduced formalism. More...
class	ocra::ContactAvoidanceConstraint

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.

Detailed Description

Define contact avoidance constraint for wOcra controller.

Author

Joseph Salini

Definition in file ContactAvoidanceConstraint.h.