Drake
 All Classes Files Functions Variables
QPControllerData Class Reference

Class that contains data needed by the QPController and cascaded modules. More...

Inheritance diagram for QPControllerData:
Collaboration diagram for QPControllerData:

Public Member Functions

function QPControllerData (lqr_is_time_varying, data)
 
function verifyControllerData (ignoredArg, data)
 
function updateControllerData (obj, data)
 
- Public Member Functions inherited from ControllerData
function ControllerData (data)
 
virtual function verifyControllerData (obj, data)
 asserts existence and type of properties contained in 'data' More...
 
function updateControllerData (obj, data)
 sets class properties using values contained in 'data' More...
 
- Public Member Functions inherited from SharedDataHandle
function SharedDataHandle (data, deleteFcn)
 
function getData (obj)
 
function delete (obj)
 
function setData (obj, data)
 
function setField (obj, fieldname, val)
 typecheck(obj.data,'struct'); More...
 
function getField (obj, fieldname)
 typecheck(obj.data,'struct'); More...
 

Public Attributes

Property infocount
 solver related -------------------------------------------------------—— More...
 
Property qp_active_set
 active set of inequality constraints from pervious iteration More...
 
Property x0
 LQR solution terms ------------------------------------------------------—. More...
 
Property y0
 
Property u0
 nominal input (possibly time-varying) More...
 
Property R
 input LQR cost More...
 
Property Qy
 
Property S
 
Property s1
 
Property s2
 
Property Sdot
 
Property s1dot
 
Property s2dot
 
Property lqr_is_time_varying
 
Property qtraj
 whole-body stuff --------------------------------------------------------— More...
 
Property comtraj
 note that qtraj can be time-varying, even if LQR system is not More...
 
Property support_times
 
Property supports
 
Property ignore_terrain
 
Property link_constraints
 structure of link motion constraints, see Biped class More...
 
Property constrained_dofs
 array of joint indices More...
 
Property acceleration_input_frame
 
Property plan_shift
 generalized accelerations More...
 
Property pelvis_z_prev
 
Property left_toe_off
 
Property right_toe_off
 
Property pelvis_foot_height_reference
 
Property mu
 dynamics related --------------------------------------------------------— More...
 
- Public Attributes inherited from SharedDataHandle
Property data
 

Detailed Description

Class that contains data needed by the QPController and cascaded modules.

Constructor & Destructor Documentation

function QPControllerData ( lqr_is_time_varying  ,
data   
)
Return values
obj

Member Function Documentation

function updateControllerData ( obj  ,
data   
)
function verifyControllerData ( ignoredArg  ,
data   
)
Return values
data

Member Data Documentation

Property acceleration_input_frame
Property comtraj

note that qtraj can be time-varying, even if LQR system is not

Property constrained_dofs

array of joint indices

Property ignore_terrain
Property infocount

solver related -------------------------------------------------------——

number of consecutive iterations with solver info < 0

Property left_toe_off
Property link_constraints

structure of link motion constraints, see Biped class

Property lqr_is_time_varying
Property mu

dynamics related --------------------------------------------------------—

Property pelvis_foot_height_reference
Property pelvis_z_prev
Property plan_shift

generalized accelerations

Property qp_active_set

active set of inequality constraints from pervious iteration

Property qtraj

whole-body stuff --------------------------------------------------------—

Property Qy
Property R

input LQR cost

Property right_toe_off
Property S
Property s1
Property s1dot
Property s2
Property s2dot
Property Sdot
Property support_times
Property supports
Property u0

nominal input (possibly time-varying)

Property x0

LQR solution terms ------------------------------------------------------—.

Property y0

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