Drake
QpInput Class Reference

Input to the QP inverse dynamics controller. More...

#include <drake/systems/controllers/qp_inverse_dynamics/qp_inverse_dynamics_common.h>

Public Member Functions

 QpInput ()
 
 QpInput (const std::vector< std::string > &dof_names)
 
bool is_valid () const
 
bool is_valid (int num_vd) const
 Checks validity of this QpInput. More...
 
bool operator== (const QpInput &other) const
 
bool operator!= (const QpInput &other) const
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 QpInput (const QpInput &)=default
 
QpInputoperator= (const QpInput &)=default
 
 QpInput (QpInput &&)=default
 
QpInputoperator= (QpInput &&)=default
 
Accessors
double w_basis_reg () const
 
const std::string & dof_name (size_t index) const
 
const std::unordered_map< std::string, ContactInformation > & contact_information () const
 
const std::unordered_map< std::string, DesiredBodyMotion > & desired_body_motions () const
 
const DesiredDofMotionsdesired_dof_motions () const
 
const DesiredCentroidalMomentumDotdesired_centroidal_momentum_dot () const
 
doublemutable_w_basis_reg ()
 
std::unordered_map< std::string, ContactInformation > & mutable_contact_information ()
 
std::unordered_map< std::string, DesiredBodyMotion > & mutable_desired_body_motions ()
 
DesiredDofMotionsmutable_desired_dof_motions ()
 
DesiredCentroidalMomentumDotmutable_desired_centroidal_momentum_dot ()
 

Detailed Description

Input to the QP inverse dynamics controller.

Constructor & Destructor Documentation

◆ QpInput() [1/4]

QpInput ( const QpInput )
default

◆ QpInput() [2/4]

QpInput ( QpInput &&  )
default

◆ QpInput() [3/4]

QpInput ( )
inline

◆ QpInput() [4/4]

QpInput ( const std::vector< std::string > &  dof_names)
inlineexplicit

Member Function Documentation

◆ contact_information()

const std::unordered_map<std::string, ContactInformation>& contact_information ( ) const
inline

◆ desired_body_motions()

const std::unordered_map<std::string, DesiredBodyMotion>& desired_body_motions ( ) const
inline

◆ desired_centroidal_momentum_dot()

const DesiredCentroidalMomentumDot& desired_centroidal_momentum_dot ( ) const
inline

◆ desired_dof_motions()

const DesiredDofMotions& desired_dof_motions ( ) const
inline

◆ dof_name()

const std::string& dof_name ( size_t  index) const
inline

◆ is_valid() [1/2]

bool is_valid ( ) const
inline

◆ is_valid() [2/2]

bool is_valid ( int  num_vd) const

Checks validity of this QpInput.

Parameters
num_vdDimension of acceleration in the generalized coordinates.
Returns
true if this is valid.

◆ mutable_contact_information()

std::unordered_map<std::string, ContactInformation>& mutable_contact_information ( )
inline

◆ mutable_desired_body_motions()

std::unordered_map<std::string, DesiredBodyMotion>& mutable_desired_body_motions ( )
inline

◆ mutable_desired_centroidal_momentum_dot()

DesiredCentroidalMomentumDot& mutable_desired_centroidal_momentum_dot ( )
inline

◆ mutable_desired_dof_motions()

DesiredDofMotions& mutable_desired_dof_motions ( )
inline

◆ mutable_w_basis_reg()

double& mutable_w_basis_reg ( )
inline

◆ operator!=()

bool operator!= ( const QpInput other) const
inline

◆ operator=() [1/2]

QpInput& operator= ( const QpInput )
default

◆ operator=() [2/2]

QpInput& operator= ( QpInput &&  )
default

◆ operator==()

bool operator== ( const QpInput other) const

◆ w_basis_reg()

double w_basis_reg ( ) const
inline

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