Drake
QpOutput Class Reference

Output of the QP inverse dynamics controller. More...

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

Public Member Functions

 QpOutput ()
 
 QpOutput (const std::vector< std::string > &dof_names)
 
bool is_valid (int num_vd) const
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 QpOutput (const QpOutput &)=default
 
QpOutputoperator= (const QpOutput &)=default
 
 QpOutput (QpOutput &&)=default
 
QpOutputoperator= (QpOutput &&)=default
 
Accessors
const std::vector< std::string > & dof_names () const
 
const std::string & dof_name (int index) const
 
const Vector3< double > & comdd () const
 Returns the center of mass acceleration. More...
 
const Vector6< double > & centroidal_momentum_dot () const
 
const VectorX< double > & vd () const
 Returns the generalized acceleration. More...
 
const std::unordered_map< std::string, BodyAcceleration > & body_accelerations () const
 
const VectorX< double > & dof_torques () const
 
const std::unordered_map< std::string, ResolvedContact > & resolved_contacts () const
 
const std::vector< std::pair< std::string, double > > & costs () const
 
const std::pair< std::string, double > & costs (size_t i) const
 
Vector3< double > & mutable_comdd ()
 Returns the center of mass acceleration. More...
 
Vector6< double > & mutable_centroidal_momentum_dot ()
 
VectorX< double > & mutable_vd ()
 Returns the generalized acceleration. More...
 
std::unordered_map< std::string, BodyAcceleration > & mutable_body_accelerations ()
 
std::unordered_map< std::string, ResolvedContact > & mutable_resolved_contacts ()
 
VectorX< double > & mutable_dof_torques ()
 
std::vector< std::pair< std::string, double > > & mutable_costs ()
 
std::pair< std::string, double > & mutable_cost (size_t i)
 

Detailed Description

Output of the QP inverse dynamics controller.

Constructor & Destructor Documentation

QpOutput ( const QpOutput )
default
QpOutput ( QpOutput &&  )
default
QpOutput ( )
inline
QpOutput ( const std::vector< std::string > &  dof_names)
inlineexplicit

Member Function Documentation

const std::unordered_map<std::string, BodyAcceleration>& body_accelerations ( ) const
inline

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const Vector6<double>& centroidal_momentum_dot ( ) const
inline
const Vector3<double>& comdd ( ) const
inline

Returns the center of mass acceleration.

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const std::vector<std::pair<std::string, double> >& costs ( ) const
inline

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const std::pair<std::string, double>& costs ( size_t  i) const
inline
const std::string& dof_name ( int  index) const
inline

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const std::vector<std::string>& dof_names ( ) const
inline
const VectorX<double>& dof_torques ( ) const
inline

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bool is_valid ( int  num_vd) const

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std::unordered_map<std::string, BodyAcceleration>& mutable_body_accelerations ( )
inline

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Vector6<double>& mutable_centroidal_momentum_dot ( )
inline

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Vector3<double>& mutable_comdd ( )
inline

Returns the center of mass acceleration.

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std::pair<std::string, double>& mutable_cost ( size_t  i)
inline

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std::vector<std::pair<std::string, double> >& mutable_costs ( )
inline

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VectorX<double>& mutable_dof_torques ( )
inline

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std::unordered_map<std::string, ResolvedContact>& mutable_resolved_contacts ( )
inline

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VectorX<double>& mutable_vd ( )
inline

Returns the generalized acceleration.

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QpOutput& operator= ( QpOutput &&  )
default
QpOutput& operator= ( const QpOutput )
default
const std::unordered_map<std::string, ResolvedContact>& resolved_contacts ( ) const
inline

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const VectorX<double>& vd ( ) const
inline

Returns the generalized acceleration.

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