|
| class | AbilitySet |
| |
| class | BaseVariable |
| | Implements a basic variable. More...
|
| |
| class | BoundFunction |
| | BoundFunction class. More...
|
| |
| class | Buffer |
| |
| class | CartesianTaskBuilder |
| |
| class | CascadeQP |
| | CascadeQP class. More...
|
| |
| class | CascadeQPSolver |
| | CascadeQPSolver class. More...
|
| |
| class | CmlQuadraticSolver |
| | CmlQuadraticSolver class. More...
|
| |
| class | CoMFrame |
| | Creates a frame whose center is at the CoM of the model and whose axes are parallel to the axes of the world frame. More...
|
| |
| class | Component |
| | Base class for the Component class of the Composite pattern. More...
|
| |
| class | Composite |
| | Base class for the Composite class of the Composite pattern. More...
|
| |
| class | CompositeVariable |
| | A concatenation of base variables and other composite variables. More...
|
| |
| class | ComTaskBuilder |
| |
| class | Constraint |
| | Constraint class. More...
|
| |
| class | Constraint< Function > |
| |
| class | ConstraintSet |
| | ConstraintSet class. More...
|
| |
| class | ConstraintSet< Function > |
| |
| class | ContactAvoidanceConstraint |
| |
| class | ContactAvoidanceFunction |
| | Create a linear function that represents the joint limit function. More...
|
| |
| class | ContactConstraintFeature |
| | Used to build contact constraint tasks (null acceleration). More...
|
| |
| class | ContactSet |
| | Contact task factory. More...
|
| |
| class | ControlConstraint |
| |
| class | ControlFrame |
| | Generic representation of a frame: gives access to its position, velocity, jacobian... More...
|
| |
| class | Controller |
| | Interface for controllers. More...
|
| |
| class | CoupledInputOutputSize |
| |
| class | DiagonalLinearFunction |
| | DiagonalLinearFunction class. More...
|
| |
| class | DisplacementFeature |
| | Used to build position/orientation tasks. More...
|
| |
| class | DotProductFunction |
| | DotProductFunction class. More...
|
| |
| class | DoubleDiagonalLinearFunction |
| | DoubleDiagonalLinearFunction class. More...
|
| |
| class | DynamicEquationFunction |
| | DynamicEquationFunction class. More...
|
| |
| struct | EqualitiesConstraints |
| |
| class | EqualZeroConstraintPtr |
| |
| class | Ex1Pb |
| |
| class | Ex2Pb |
| |
| class | Ex3Pb |
| |
| class | Ex4Pb |
| |
| class | Ex5Pb |
| |
| class | ExperimentalTrajectory |
| |
| class | FcQuadraticFunction |
| |
| class | Feature |
| | Feature interface, used by tasks to compute errors and jacobians. More...
|
| |
| struct | FinalSolution |
| |
| class | FSQPConstraintManager |
| | FSQPConstraintManager class. More...
|
| |
| class | FSQPSolver |
| | FSQPSolver class. More...
|
| |
| class | FullContactAvoidanceFunction |
| | Create a linear function that represents the contact avoidance function for the full formalism. More...
|
| |
| class | FullDynamicEquationFunction |
| | Create a linear function that represents the dynamic equation of motion. More...
|
| |
| class | FullJointLimitFunction |
| | Create a linear function that represents the joint limit function for the full formalism. More...
|
| |
| class | FullModelState |
| |
| class | FullPostureTaskBuilder |
| |
| class | FullState |
| |
| class | FullStateFeature |
| | Used to build tasks in the manikin configuration space. More...
|
| |
| class | FullTargetState |
| |
| class | Function |
| | Function class. More...
|
| |
| struct | FunctionInterfaceMapping |
| |
| struct | FunctionInterfaceMapping< X< Function > > |
| |
| class | GaussianProcessTrajectory |
| |
| class | GreaterThanZeroConstraintPtr |
| |
| struct | HierarchyLevel |
| |
| struct | HierarchyLevel_barre |
| |
| class | IdentityFunction |
| | IdentityFunction class. More...
|
| |
| class | IFunction |
| | Computation ability of a ocra function. More...
|
| |
| class | IFunctionProperties |
| |
| struct | InequalitiesConstraints |
| |
| class | Invoker |
| |
| class | Invoker< T, EVT, false > |
| |
| class | Invoker< T, EVT, true > |
| |
| class | Invoker< void, EVT, false > |
| |
| class | Invoker< void, EVT, true > |
| |
| class | InvokerBase |
| |
| class | JointLimitConstraint |
| |
| class | JointLimitFunction |
| | Create a linear function that represents the joint limit function. More...
|
| |
| class | Leaf |
| | Base class for the Leaf class of the Composite pattern. More...
|
| |
| class | LessThanZeroConstraintPtr |
| |
| class | LinearFunction |
| | LinearFunction class. More...
|
| |
| class | LinearInterpolationTrajectory |
| |
| class | LinearizedCoulombFunction |
| | LinearizedCoulombFunction class. More...
|
| |
| class | LinearTask |
| | LinearTask class. More...
|
| |
| struct | MatrixPQ |
| |
| class | MergedVariable |
| |
| class | MinimumJerkTrajectory |
| |
| class | Model |
| | Model class. More...
|
| |
| class | ModelContacts |
| | ModelContacts class. More...
|
| |
| class | NamedInstance |
| |
| class | NewtonSolver |
| | NewtonSolver class. More...
|
| |
| struct | NoInfo |
| | Empty information block to attach to a parenthood relationship between a Composite and a Component. More...
|
| |
| class | Objective |
| | Objective class. More...
|
| |
| class | Objective< Function > |
| |
| class | ObjectivePtr |
| |
| class | ObjQLD |
| | ObjQLD class. More...
|
| |
| class | Observer |
| |
| class | ObserverBase |
| | Base class for Observers with propagation system. More...
|
| |
| class | ObserverSubject |
| |
| struct | ocra_static_assert |
| |
| struct | ocra_static_assert< true > |
| |
| class | OFSQP |
| |
| class | OFSQPProblem |
| |
| class | OneLevelSolver |
| | A generic abstract class the solvers that can be used in the wOcra Controller. More...
|
| |
| class | OneLevelSolverWithQLD |
| | Solver class that only consider one level of importance for all tasks using QLD. More...
|
| |
| class | OneLevelSolverWithQPOASES |
| | Solver class that only consider one level of importance for all tasks using QPOASES. More...
|
| |
| class | OneLevelSolverWithQuadProg |
| | Solver class that only consider one level of importance for all tasks using Quadprog++. More...
|
| |
| struct | OptimizationResult |
| |
| class | OrientationFeature |
| | Used to build orientation tasks. More...
|
| |
| class | OrientationTaskBuilder |
| |
| class | Parenthood |
| | Stores information about a Parent/Child relationship in the Composite design pattern. More...
|
| |
| class | PartialModelState |
| | A partial state of the model. More...
|
| |
| class | PartialPostureTaskBuilder |
| |
| class | PartialState |
| | A abstract partial state. More...
|
| |
| class | PartialStateFeature |
| | Used to build tasks in a partial configuration space. More...
|
| |
| class | PartialTargetState |
| | A target for a model partial state. More...
|
| |
| class | Pb114G10 |
| |
| class | Pb114G11 |
| |
| class | Pb114G5 |
| |
| class | PointContactFeature |
| | Used to build point contact tasks. More...
|
| |
| class | PointContactTaskBuilder |
| |
| class | PoseTaskBuilder |
| |
| class | PositionFeature |
| | Used to build positioning tasks. More...
|
| |
| class | QLDSolver |
| | QLDSolver class. More...
|
| |
| class | QuadraticFunction |
| | QuadraticFunction class. More...
|
| |
| class | QuadraticSolver |
| | QuadraticSolver class. More...
|
| |
| class | ReducedContactAvoidanceFunction |
| | Create a linear function that represents the contact avoidance function for the reduced formalism. More...
|
| |
| class | ReducedJointLimitFunction |
| | Create a linear function that represents the joint limit function for the reduced formalism. More...
|
| |
| struct | return_type_traits |
| | type and function definitions for the return types. More...
|
| |
| class | RowFunction |
| | RowFunction class. More...
|
| |
| class | SecondOrderLinearTask |
| | SecondOrderLinearTask class. More...
|
| |
| class | SegmentFrame |
| | A frame attached to a segment of a model. More...
|
| |
| struct | Solution |
| |
| class | Solver |
| | Solver class. More...
|
| |
| class | SquaredLinearFunction |
| | SquaredLinearFunction class. More...
|
| |
| class | Subject |
| |
| class | SubjectBase |
| |
| struct | SubjectBaseTraits |
| |
| struct | SubjectBaseTraits< EVT, void > |
| |
| struct | SubjectBaseTraitsBase |
| | Base class for objects who can raise events,. More...
|
| |
| class | SubtractionFunction |
| | SubtractionFunction class. More...
|
| |
| class | SumOfLinearFunctions |
| |
| class | TargetFrame |
| | Represents a 'target', i.e. something that does not depend on a model but must match with another frame. More...
|
| |
| class | Task |
| |
| class | TaskBuilder |
| |
| class | TaskBuilderOptions |
| |
| class | TaskConstructionManager |
| |
| class | TaskMessageHandler |
| |
| class | TaskState |
| |
| class | TaskYarpInterface |
| |
| class | TimeOptimalTrajectory |
| |
| class | TorqueLimitConstraint |
| |
| class | TorqueLimitFunction |
| | Create a linear function that represents the torque limit function. More...
|
| |
| class | Trajectory |
| |
| class | Variable |
| | This class represents a variable in a mathematical sense. More...
|
| |
| class | VariableChiFunction |
| |
| class | VariableHasRestrictedClassDerivation |
| |
| class | VariableMapping |
| | A class to manage the relative mapping of a variable with respect to another one. More...
|
| |
| struct | VariableParenthood |
| | This class stores information about a composite-component relationship. More...
|
| |
| class | WeightedSquareDistanceFunction |
| | WeightedSquareDistanceFunction class. More...
|
| |
|
| typedef std::vector< bool > | boolVector |
| |
| typedef Constraint< Function > | GenericConstraint |
| |
| typedef Constraint< LinearFunction > | LinearConstraint |
| |
| typedef Constraint< BoundFunction > | BoundConstraint |
| |
| typedef Constraint< IdentityFunction > | IdentityConstraint |
| |
| typedef Constraint< DiagonalLinearFunction > | DiagonalLinearConstraint |
| |
| typedef Objective< Function > | GenericObjective |
| |
| typedef Objective< LinearFunction > | LinearObjective |
| |
| typedef Objective< QuadraticFunction > | QuadraticObjective |
| |
| typedef Objective< SquaredLinearFunction > | SquaredLinearObjective |
| |
| typedef Eigen::Map< Eigen::MatrixXd > | MatrixMap |
| |
| typedef Eigen::Map< Eigen::VectorXd > | VectorMap |
| |
| typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > | MatrixXdRm |
| |
| typedef double | real |
| |
| typedef Eigen::DenseBase< MatrixXd >::ConstRowXpr | MatrixXdRow |
| |
| typedef Eigen::Matrix< double, 6, 1 > | Vector6d |
| |
| typedef Eigen::Matrix< double, 6, 6 > | Matrix6d |
| |
| typedef Eigen::Matrix< double, 3, Eigen::Dynamic > | Jacobian3d |
| |
| typedef Eigen::Matrix< double, 6, Eigen::Dynamic > | Jacobian6d |
| |
|
| enum | ECartesianDof {
NONE =0,
X,
Y,
XY,
Z,
XZ,
YZ,
XYZ
} |
| |
| enum | TASK_MODE { TASK_AS_OBJECTIVE,
TASK_AS_CONSTRAINT,
TASK_NOT_DEFINED
} |
| | A basic enumeration for the different types of tasks we can have. More...
|
| |
| enum | TASK_MESSAGE {
OCRA_FAILURE = 0,
OCRA_SUCCESS,
OCRA_WARNING,
GET_CURRENT_STATE,
GET_STIFFNESS,
GET_DAMPING,
GET_WEIGHTS,
GET_ACTIVITY_STATUS,
GET_DIMENSION,
GET_TYPE,
GET_TYPE_AS_STRING,
GET_NAME,
GET_CONTROL_PORT_NAMES,
GET_TASK_PORT_NAME,
GET_TASK_ERROR,
GET_TASK_STATE,
GET_DESIRED_TASK_STATE,
GET_TASK_POSITION,
GET_DESIRED_TASK_POSITION,
SET_STIFFNESS,
SET_STIFFNESS_VECTOR,
SET_STIFFNESS_MATRIX,
SET_DAMPING,
SET_DAMPING_VECTOR,
SET_DAMPING_MATRIX,
SET_WEIGHT,
SET_WEIGHT_VECTOR,
SET_DESIRED_TASK_STATE,
SET_DESIRED_TASK_POSITION,
ACTIVATE,
DEACTIVATE,
TASK_IS_ACTIVATED,
TASK_IS_DEACTIVATED,
OPEN_CONTROL_PORTS,
CLOSE_CONTROL_PORTS,
HELP
} |
| |
| enum | eBoundType { BOUND_TYPE_INFERIOR = -1,
BOUND_TYPE_SUPERIOR = 1
} |
| |
| enum | eConstraintType {
CSTR_EQUAL_ZERO =0,
CSTR_EQUAL_B,
CSTR_LOWER_ZERO,
CSTR_LOWER_U,
CSTR_GREATER_ZERO,
CSTR_GREATER_L,
CSTR_LOWER_AND_GREATER
} |
| |
| enum | eFunctionAbility {
FUN_VALUE = 0,
PARTIAL_X,
PARTIAL_T,
FUN_DOT,
PARTIAL_X_DOT,
PARTIAL_XX,
FUN_DDOT,
PARTIAL_TT,
PARTIAL_TX,
PARTIAL_XT,
PARTIAL_T_DOT,
PARTIAL_X_DOT_X_DOT,
PROP_NUMBER
} |
| | Enumeration of the computation abilities of a ocra function. More...
|
| |
| enum | eFunctionContinuity {
CONTINUITY_C0 = 0,
CONTINUITY_C1,
CONTINUITY_C2,
CONTINUITY_C3,
CONTINUITY_C4,
CONTINUITY_CINF = 0xfff-1,
CONTINUITY_UNKNOWN
} |
| |
| enum | eFunctionLinearity {
LINEARITY_CONSTANT,
LINEARITY_LINEAR,
LINEARITY_QUADRATIC,
LINEARITY_LINEAR_FRACTIONAL,
LINEARITY_UNDEFINED
} |
| |
| enum | eFunctionConvexity {
CONVEXITY_CONVEX,
CONVEXITY_STRICTLY_CONVEX,
CONVEXITY_CONCAVE,
CONVEXITY_STRICTLY_CONCAVE,
CONVEXITY_CONVEX_AND_CONCAVE,
CONVEXITY_LOG_CONVEX,
CONVEXITY_LOG_CONCAVE,
CONVEXITY_QUASICONVEX,
CONVEXITY_QUASICONCAVE,
CONVEXITY_QUASILINEAR,
CONVEXITY_UNDEFINED
} |
| |
| enum | {
EVT_RESIZE = 0xffff,
EVT_CHANGE_DEPENDENCIES,
EVT_CHANGE_VALUE,
EVT_INVALIDATE,
EVT_CSTR_CHANGE_BOUNDS_NUMBER
} |
| |
| enum | eReturnInfo {
RETURN_SUCCESS = 0,
RETURN_INCONSISTENT_PROBLEM,
RETURN_INFEASIBLE_PROBLEM,
RETURN_MAX_ITER_REACHED,
RETURN_MAX_TIME_REACHED,
RETURN_MEMORY_ERROR,
RETURN_NUMERICAL_ERROR,
RETURN_ERROR
} |
| |
| enum | eConstraintOutput {
CSTR_PLUS_EQUAL =0,
CSTR_MINUS_EQUAL,
CSTR_PLUS_LOWER,
CSTR_MINUS_LOWER,
CSTR_PLUS_GREATER,
CSTR_MINUS_GREATER,
CSTR_DOUBLE_BOUNDS
} |
| |
|
| AbilitySet | operator& (const AbilitySet a1, const AbilitySet a2) |
| |
| AbilitySet | operator| (const AbilitySet a1, const AbilitySet a2) |
| |
| std::ostream & | operator<< (std::ostream &out, const HierarchyLevel &h) |
| |
| std::ostream & | operator<< (std::ostream &out, const HierarchyLevel_barre &h) |
| |
| std::ostream & | operator<< (std::ostream &out, const MatrixPQ &m) |
| |
| std::ostream & | operator<< (std::ostream &out, const EqualitiesConstraints &e) |
| |
| std::ostream & | operator<< (std::ostream &out, const InequalitiesConstraints &ie) |
| |
| std::ostream & | operator<< (std::ostream &out, const FinalSolution &sf) |
| |
| void | testSolveCmlQP (void) |
| |
| void | testSolveCmlQPWithNonFeasiblePb (void) |
| |
| void | testDiagonalLinearFunction () |
| |
| void | testFsqpMapping () |
| |
| void | testFSQPSolver01 () |
| |
| void | testFSQPSolver02 () |
| |
| | DECLARE_SUBTYPE_TRAITS (VectorXd, double,, operator[]) |
| |
| | DECLARE_SUBTYPE_TRAITS (MatrixXd, MatrixXdRow,, row) |
| |
| | DECLARE_SUBTYPE_TRAITS (std::vector< MatrixXd * >, const MatrixXd &,*, operator[]) |
| |
| | DECLARE_FUNCTION_TRAITS (eFunctionAbility Property,, int, updateProperty,-1) |
| |
| | DECLARE_FUNCTION_TRAITS (,< FUN_VALUE >, VectorXd, updateValue, FUN_VALUE) |
| |
| | DECLARE_FUNCTION_TRAITS (,< PARTIAL_X >, MatrixXd, updateJacobian, PARTIAL_X) |
| |
| | DECLARE_FUNCTION_TRAITS (,< PARTIAL_T >, VectorXd, updatePartialT, PARTIAL_T) |
| |
| | DECLARE_FUNCTION_TRAITS (,< FUN_DOT >, VectorXd, updateFdot, FUN_DOT) |
| |
| | DECLARE_FUNCTION_TRAITS (,< PARTIAL_X_DOT >, MatrixXd, updateJdot, PARTIAL_X_DOT) |
| |
| | DECLARE_FUNCTION_TRAITS (,< PARTIAL_XX >, std::vector< MatrixXd * >, updateHessian, PARTIAL_XX) |
| |
| | DECLARE_FUNCTION_TRAITS (,< FUN_DDOT >, VectorXd, updateFddot, FUN_DDOT) |
| |
| | DECLARE_FUNCTION_TRAITS (,< PARTIAL_TT >, VectorXd, updatePartialTT, PARTIAL_TT) |
| |
| | DECLARE_FUNCTION_TRAITS (,< PARTIAL_TX >, MatrixXd, updatePartialTX, PARTIAL_TX) |
| |
| | DECLARE_FUNCTION_TRAITS (,< PARTIAL_XT >, MatrixXd, updatePartialXT, PARTIAL_XT) |
| |
| | DECLARE_FUNCTION_TRAITS (,< PARTIAL_T_DOT >, VectorXd, updatePartialTdot, PARTIAL_T_DOT) |
| |
| | DECLARE_FUNCTION_TRAITS (,< PARTIAL_X_DOT_X_DOT >, VectorXd, updateJdotXdot, PARTIAL_X_DOT_X_DOT) |
| |
| void | testLinearFunction () |
| |
| void | testLinearCoulomb (void) |
| |
| void | testLinearTask () |
| |
| void | testNewtonSolver01 () |
| |
| void | testNewtonSolver02 () |
| |
| void | testObjQLD (void) |
| |
| void | testOFSQP01 () |
| |
| void | testOFSQP02a () |
| |
| void | testOFSQP02b () |
| |
| void | testOFSQP03 () |
| |
| void | testOFSQP04 () |
| |
| void | testOFSQP05 () |
| |
| void | testQLDSolver () |
| |
| void | testQuadraticFunction () |
| |
| void | testUtilities () |
| |
| void | testSquaredLinearFunction () |
| |
| void | testWeightedSquareDistanceFunction () |
| |
| double | deg2rad (const double deg) |
| |
| double | rad2deg (const double rad) |
| |
| bool | operator< (const FSQPConstraintManager::Mapping &m1, const FSQPConstraintManager::Mapping &m2) |
| |
Optimization-based Robot Controller namespace. a library of classes to write and solve optimization problems dedicated to the control of multi-body systems.
QuadraticFunction dedicated to the minimization of the force of contact (fc) variable.
1.8.11
