ocra::Task::Pimpl Struct Reference

Collaboration diagram for ocra::Task::Pimpl:

Public Member Functions
	Pimpl (const std::string &name, std::shared_ptr< Model > m, Feature::Ptr s, Feature::Ptr sdes)
	~Pimpl ()
void	setAsAccelerationTask ()
void	setAsTorqueTask ()
void	setAsForceTask ()
void	connectFunctionnWithObjectiveAndConstraint ()

Public Attributes
Feature::Ptr	feature
Feature::Ptr	featureDes
int	mode
GainsWorkspace	gainsWorkspace
MatrixXd	M
MatrixXd	M_inverse
MatrixXd	B
MatrixXd	K
VectorXd	weight
VectorXd	output
VectorXd	error
VectorXd	errorDot
VectorXd	errorDdot
VectorXd	effort
MatrixXd	jacobian
Vector3d	frictionOffset
double	frictionCoeff
double	margin
bool	useActualMass
bool	contactActive
TYPETASK	innerTaskType
META_TASK_TYPE	innerMetaTaskType
int	hierarchyLevel
std::shared_ptr< Model >	innerModel
std::shared_ptr< OneLevelSolver >	solver
const FullDynamicEquationFunction *	dynamicEquation
bool	useReducedProblem
BaseVariable	fcVar
bool	taskHasBeenInitialized
LessThanZeroConstraintPtr< LinearizedCoulombFunction >	frictionConstraint
bool	contactForceConstraintHasBeenSavedInSolver
bool	contactPointHasBeenSavedInModel
bool	frictionConstraintIsRegisteredInConstraint
EqualZeroConstraintPtr< LinearFunction >	ContactForceConstraint
bool	isRegisteredAsObjective
bool	isRegisteredAsConstraint
LinearFunction *	innerObjectiveFunction
Objective< SquaredLinearFunction > *	innerTaskAsObjective
EqualZeroConstraintPtr< LinearFunction >	innerTaskAsConstraint

Detailed Description

Definition at line 31 of file Task.cpp.

Constructor & Destructor Documentation

ocra::Task::Pimpl::Pimpl ( const std::string &  name, std::shared_ptr< Model >  m, Feature::Ptr  s, Feature::Ptr  sdes  )

inline

Definition at line 77 of file Task.cpp.

ocra::Task::Pimpl::~Pimpl ( )

inline

Definition at line 126 of file Task.cpp.

Member Function Documentation

void ocra::Task::Pimpl::connectFunctionnWithObjectiveAndConstraint ( )

inline

Definition at line 163 of file Task.cpp.

void ocra::Task::Pimpl::setAsAccelerationTask ( )

inline

Definition at line 134 of file Task.cpp.

void ocra::Task::Pimpl::setAsForceTask ( )

inline

Definition at line 156 of file Task.cpp.

void ocra::Task::Pimpl::setAsTorqueTask ( )

inline

Definition at line 149 of file Task.cpp.

Member Data Documentation

MatrixXd ocra::Task::Pimpl::B

Definition at line 39 of file Task.cpp.

bool ocra::Task::Pimpl::contactActive

Definition at line 52 of file Task.cpp.

EqualZeroConstraintPtr<LinearFunction> ocra::Task::Pimpl::ContactForceConstraint

Definition at line 67 of file Task.cpp.

bool ocra::Task::Pimpl::contactForceConstraintHasBeenSavedInSolver

Definition at line 64 of file Task.cpp.

bool ocra::Task::Pimpl::contactPointHasBeenSavedInModel

Definition at line 65 of file Task.cpp.

const FullDynamicEquationFunction* ocra::Task::Pimpl::dynamicEquation

Definition at line 59 of file Task.cpp.

VectorXd ocra::Task::Pimpl::effort

Definition at line 46 of file Task.cpp.

VectorXd ocra::Task::Pimpl::error

Definition at line 43 of file Task.cpp.

VectorXd ocra::Task::Pimpl::errorDdot

Definition at line 45 of file Task.cpp.

VectorXd ocra::Task::Pimpl::errorDot

Definition at line 44 of file Task.cpp.

BaseVariable ocra::Task::Pimpl::fcVar

Definition at line 61 of file Task.cpp.

Feature::Ptr ocra::Task::Pimpl::feature

Definition at line 33 of file Task.cpp.

Feature::Ptr ocra::Task::Pimpl::featureDes

Definition at line 34 of file Task.cpp.

double ocra::Task::Pimpl::frictionCoeff

Definition at line 49 of file Task.cpp.

LessThanZeroConstraintPtr<LinearizedCoulombFunction> ocra::Task::Pimpl::frictionConstraint

Definition at line 63 of file Task.cpp.

bool ocra::Task::Pimpl::frictionConstraintIsRegisteredInConstraint

Definition at line 66 of file Task.cpp.

Vector3d ocra::Task::Pimpl::frictionOffset

Definition at line 48 of file Task.cpp.

GainsWorkspace ocra::Task::Pimpl::gainsWorkspace

Definition at line 36 of file Task.cpp.

int ocra::Task::Pimpl::hierarchyLevel

Definition at line 55 of file Task.cpp.

META_TASK_TYPE ocra::Task::Pimpl::innerMetaTaskType

Definition at line 54 of file Task.cpp.

std::shared_ptr<Model> ocra::Task::Pimpl::innerModel

Definition at line 57 of file Task.cpp.

LinearFunction* ocra::Task::Pimpl::innerObjectiveFunction

Definition at line 73 of file Task.cpp.

EqualZeroConstraintPtr<LinearFunction> ocra::Task::Pimpl::innerTaskAsConstraint

Definition at line 75 of file Task.cpp.

Objective<SquaredLinearFunction>* ocra::Task::Pimpl::innerTaskAsObjective

Definition at line 74 of file Task.cpp.

TYPETASK ocra::Task::Pimpl::innerTaskType

Definition at line 53 of file Task.cpp.

bool ocra::Task::Pimpl::isRegisteredAsConstraint

Definition at line 70 of file Task.cpp.

bool ocra::Task::Pimpl::isRegisteredAsObjective

Definition at line 69 of file Task.cpp.

MatrixXd ocra::Task::Pimpl::jacobian

Definition at line 47 of file Task.cpp.

MatrixXd ocra::Task::Pimpl::K

Definition at line 40 of file Task.cpp.

MatrixXd ocra::Task::Pimpl::M

Definition at line 37 of file Task.cpp.

MatrixXd ocra::Task::Pimpl::M_inverse

Definition at line 38 of file Task.cpp.

double ocra::Task::Pimpl::margin

Definition at line 50 of file Task.cpp.

int ocra::Task::Pimpl::mode

Definition at line 35 of file Task.cpp.

VectorXd ocra::Task::Pimpl::output

Definition at line 42 of file Task.cpp.

std::shared_ptr<OneLevelSolver> ocra::Task::Pimpl::solver

Definition at line 58 of file Task.cpp.

bool ocra::Task::Pimpl::taskHasBeenInitialized

Definition at line 62 of file Task.cpp.

bool ocra::Task::Pimpl::useActualMass

Definition at line 51 of file Task.cpp.

bool ocra::Task::Pimpl::useReducedProblem

Definition at line 60 of file Task.cpp.

VectorXd ocra::Task::Pimpl::weight

Definition at line 41 of file Task.cpp.

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

• Task.cpp