26 #ifndef INTERMEDQPMAT_HH_
27 #define INTERMEDQPMAT_HH_
29 #include <privatepgtypes.hh>
88 std::ostream &
print(std::ostream &o)
const;
89 void dump(
const char *filename)
const;
112 linear_inequality_t
const &
Inequalities(ineq_e type)
const;
115 inline com_t
const &
CoM()
const {
return StateMatrices_.
CoM; };
118 inline trunk_t
const &
Trunk()
const {
return StateMatrices_.
Trunk; }
121 inline reference_t
const &
Reference()
const {
return StateMatrices_.
Ref; };
123 inline void Reference(
const reference_t &Ref) { StateMatrices_.
Ref = Ref; };
153 linear_inequality_t IneqCoP_, IneqCoM_, IneqFeet_;
Custom (value based) container providing intermediate elements for the construction of a QP.
Definition: intermediate-qp-matrices.hh:39
support_state_t & SupportState()
Definition: intermediate-qp-matrices.hh:128
void Reference(const reference_t &Ref)
Definition: intermediate-qp-matrices.hh:123
state_variant_t const & State() const
Definition: intermediate-qp-matrices.hh:106
objective_variant_s objective_variant_t
Definition: intermediate-qp-matrices.hh:91
state_variant_s state_variant_t
Definition: intermediate-qp-matrices.hh:76
objective_variant_t const & Objective(objective_e type) const
Definition: intermediate-qp-matrices.cpp:48
state_variant_t & State()
Definition: intermediate-qp-matrices.hh:107
IntermedQPMat()
Definition: intermediate-qp-matrices.cpp:34
support_state_t const & SupportState() const
Definition: intermediate-qp-matrices.hh:125
void dump_state(std::ostream &aos)
Definition: intermediate-qp-matrices.cpp:121
linear_inequality_t const & Inequalities(ineq_e type) const
Definition: intermediate-qp-matrices.cpp:74
void dump_objective(objective_e type, std::ostream &aos)
Definition: intermediate-qp-matrices.cpp:104
void CoM(const com_t &CoM)
Definition: intermediate-qp-matrices.hh:116
reference_t & Reference()
Definition: intermediate-qp-matrices.hh:122
void SupportState(const support_state_t &SupportState)
Definition: intermediate-qp-matrices.hh:131
trunk_t const & Trunk() const
Definition: intermediate-qp-matrices.hh:118
~IntermedQPMat()
Definition: intermediate-qp-matrices.cpp:45
com_t const & CoM() const
Definition: intermediate-qp-matrices.hh:115
reference_t const & Reference() const
Definition: intermediate-qp-matrices.hh:121
void Trunk(const trunk_t &Trunk)
Definition: intermediate-qp-matrices.hh:119
\doc Simulate a rigid body
Definition: patterngeneratorinterface.hh:41
std::ostream & operator<<(std::ostream &os, const COMPosition_s &aCp)
Definition: pgtypes.hh:63
Definition: intermediate-qp-matrices.hh:81
void dump(const char *filename) const
Definition: intermediate-qp-matrices.cpp:146
std::ostream & print(std::ostream &o) const
Definition: intermediate-qp-matrices.cpp:140
double weight
Ponderation.
Definition: intermediate-qp-matrices.hh:83
objective_e type
Minimization objective type.
Definition: intermediate-qp-matrices.hh:86
Definition: intermediate-qp-matrices.hh:46
Eigen::VectorXd VcshiftX
Shifted selection matrix multiplied with the current feet position.
Definition: intermediate-qp-matrices.hh:68
Eigen::MatrixXd VT
Transpose of V.
Definition: intermediate-qp-matrices.hh:63
Eigen::MatrixXd V
Selection matrix for the previewed feet positions.
Definition: intermediate-qp-matrices.hh:59
Eigen::VectorXd Vc_fX
Selection matrix for the current foot position.
Definition: intermediate-qp-matrices.hh:70
support_state_t SupportState
Current support state.
Definition: intermediate-qp-matrices.hh:74
Eigen::VectorXd VcX
Selection matrix multiplied with the current foot position.
Definition: intermediate-qp-matrices.hh:65
Eigen::MatrixXd V_f
Selection matrix for relative feet positions.
Definition: intermediate-qp-matrices.hh:72
Eigen::VectorXd Vc_fY
Definition: intermediate-qp-matrices.hh:70
Eigen::VectorXd VcshiftY
Definition: intermediate-qp-matrices.hh:68
Eigen::MatrixXd Vshift
Shifted selection matrix for the previewed feet positions.
Definition: intermediate-qp-matrices.hh:61
trunk_t Trunk
TrunkState.
Definition: intermediate-qp-matrices.hh:56
Eigen::VectorXd VcY
Definition: intermediate-qp-matrices.hh:65
reference_t Ref
Objective independent QP elements.
Definition: intermediate-qp-matrices.hh:50
com_t CoM
State of the Center of Mass.
Definition: intermediate-qp-matrices.hh:53