Drake
QpInput Class Reference

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

#include <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 ( const QpInput )
default
QpInput ( QpInput &&  )
default
QpInput ( )
inline
QpInput ( const std::vector< std::string > &  dof_names)
inlineexplicit

Member Function Documentation

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

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

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const DesiredCentroidalMomentumDot& desired_centroidal_momentum_dot ( ) const
inline

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const DesiredDofMotions& desired_dof_motions ( ) const
inline

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

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

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

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DesiredCentroidalMomentumDot& mutable_desired_centroidal_momentum_dot ( )
inline

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DesiredDofMotions& mutable_desired_dof_motions ( )
inline

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double& mutable_w_basis_reg ( )
inline

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bool operator!= ( const QpInput other) const
inline

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QpInput& operator= ( const QpInput )
default
QpInput& operator= ( QpInput &&  )
default
bool operator== ( const QpInput other) const
double w_basis_reg ( ) const
inline

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