WocraController.h File Reference

Define the LQP-based controller developped during my PhD thesis with ocra framework. More...

#include <string>
#include <vector>
#include <iostream>
#include <memory>
#include "ocra/control/Controller.h"
#include "ocra/control/Model.h"
#include "ocra/optim/OneLevelSolver.h"
#include "ocra/control/Task.h"
#include "ocra/control/ControlConstraint.h"
#include "ocra/control/JointLimitConstraint.h"
#include "ocra/control/TorqueLimitConstraint.h"

Include dependency graph for WocraController.h:

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

Go to the source code of this file.

Classes
class	wocra::WocraController
	Wocra Controller based on LQP solver for the ocra framework. More...

Namespaces
	wocra
	Contains all the abstract & concrete classes for robotic control with optimization, based on the ocra framework.

Detailed Description

Define the LQP-based controller developped during my PhD thesis with ocra framework.

Author

Joseph Salini

The LQP-base controller is explained in my thesis [salini2012Thesis]}. Based on a dynamic model of the robot, we have to define tasks and constraints to properly control the system.

Definition in file WocraController.h.