Drake
InstantaneousQPController Class Reference

#include <drake/systems/controllers/InstantaneousQPController.h>

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Public Member Functions

 InstantaneousQPController (std::unique_ptr< RigidBodyTree< double >> robot_in, const drake::eigen_aligned_std_map< std::string, QPControllerParams > &param_sets_in, const RobotPropertyCache &rpc_in)
 
 InstantaneousQPController (std::unique_ptr< RigidBodyTree< double >> robot_in, const std::string &control_config_filename)
 
 InstantaneousQPController (const std::string &urdf_filename, const std::string &control_config_filename)
 
int setupAndSolveQP (const drake::lcmt_qp_controller_input &qp_input, const DrakeRobotState &robot_state, const Eigen::Ref< const Eigen::Matrix< bool, Eigen::Dynamic, 1 >> &contact_detected, const drake::eigen_aligned_std_map< Side, ForceTorqueMeasurement > &foot_force_torque_measurements, QPControllerOutput &qp_output, QPControllerDebugData *debug=NULL)
 
const RigidBodyTree< double > & getRobot () const
 
Does not allow copy, move, or assignment
 InstantaneousQPController (const InstantaneousQPController &)=delete
 
InstantaneousQPControlleroperator= (const InstantaneousQPController &)=delete
 
 InstantaneousQPController (InstantaneousQPController &&)=delete
 
InstantaneousQPControlleroperator= (InstantaneousQPController &&)=delete
 

Public Attributes

std::unordered_map< std::string, intbody_or_frame_name_to_id
 

Constructor & Destructor Documentation

InstantaneousQPController ( std::unique_ptr< RigidBodyTree< double >>  robot_in,
const drake::eigen_aligned_std_map< std::string, QPControllerParams > &  param_sets_in,
const RobotPropertyCache rpc_in 
)
inline
InstantaneousQPController ( std::unique_ptr< RigidBodyTree< double >>  robot_in,
const std::string &  control_config_filename 
)
inline
InstantaneousQPController ( const std::string &  urdf_filename,
const std::string &  control_config_filename 
)
inline

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Member Function Documentation

const RigidBodyTree<double>& getRobot ( ) const
inline
InstantaneousQPController& operator= ( const InstantaneousQPController )
delete
int setupAndSolveQP ( const drake::lcmt_qp_controller_input &  qp_input,
const DrakeRobotState robot_state,
const Eigen::Ref< const Eigen::Matrix< bool, Eigen::Dynamic, 1 >> &  contact_detected,
const drake::eigen_aligned_std_map< Side, ForceTorqueMeasurement > &  foot_force_torque_measurements,
QPControllerOutput qp_output,
QPControllerDebugData debug = NULL 
)

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Member Data Documentation

std::unordered_map<std::string, int> body_or_frame_name_to_id

The documentation for this class was generated from the following files: