Drake
QpInverseDynamics Class Reference

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

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Public Member Functions

 QpInverseDynamics ()
 Constructor for QpInverseDynamics. More...
 
int Control (const RobotKinematicState< double > &robot_status, const QpInput &input, QpOutput *output)
 Computes the generalized acceleration, joint torque and contact wrenches that best tracks the input given the current robot configuration. More...
 
Does not allow copy, move, or assignment
 QpInverseDynamics (const QpInverseDynamics &)=delete
 
QpInverseDynamicsoperator= (const QpInverseDynamics &)=delete
 
 QpInverseDynamics (QpInverseDynamics &&)=delete
 
QpInverseDynamicsoperator= (QpInverseDynamics &&)=delete
 

Static Public Attributes

static const double kUpperBoundForContactBasis = 1000
 

Constructor & Destructor Documentation

QpInverseDynamics ( const QpInverseDynamics )
delete

Constructor for QpInverseDynamics.

Exceptions
std::runtime_errorif gurobi solver is not available.

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Member Function Documentation

int Control ( const RobotKinematicState< double > &  robot_status,
const QpInput input,
QpOutput output 
)

Computes the generalized acceleration, joint torque and contact wrenches that best tracks the input given the current robot configuration.

Parameters
robot_statusRobot configuration
inputDesired motions and objectives specified by a higher level controller
outputContainer for outputs
Returns
0 if successful. < 0 if error.

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QpInverseDynamics& operator= ( const QpInverseDynamics )
delete
QpInverseDynamics& operator= ( QpInverseDynamics &&  )
delete

Member Data Documentation

const double kUpperBoundForContactBasis = 1000
static

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