26 #ifndef INTERMEDQPMAT_HH_ 27 #define INTERMEDQPMAT_HH_ 32 #include <privatepgtypes.hh> 86 std::ostream &
print(std::ostream &o)
const;
87 void dump(
const char *filename)
const;
110 linear_inequality_t
const &
Inequalities(ineq_e type)
const;
113 inline com_t
const &
CoM()
const {
return StateMatrices_.
CoM; };
116 inline trunk_t
const &
Trunk()
const {
return StateMatrices_.
Trunk; }
119 inline reference_t
const &
Reference()
const {
return StateMatrices_.
Ref; };
121 inline void Reference(
const reference_t &Ref) { StateMatrices_.
Ref = Ref; };
151 linear_inequality_t IneqCoP_, IneqCoM_, IneqFeet_;
155 const IntermedQPMat::objective_variant_s &r);
Eigen::VectorXd Vc_fY
Definition: intermediate-qp-matrices.hh:68
Eigen::MatrixXd V
Selection matrix for the previewed feet positions.
Definition: intermediate-qp-matrices.hh:57
void Reference(const reference_t &Ref)
Definition: intermediate-qp-matrices.hh:121
reference_t const & Reference() const
Definition: intermediate-qp-matrices.hh:119
com_t CoM
State of the Center of Mass.
Definition: intermediate-qp-matrices.hh:51
~IntermedQPMat()
Definition: intermediate-qp-matrices.cpp:44
Eigen::MatrixXd VT
Transpose of V.
Definition: intermediate-qp-matrices.hh:61
reference_t Ref
Objective independent QP elements.
Definition: intermediate-qp-matrices.hh:48
objective_e type
Minimization objective type.
Definition: intermediate-qp-matrices.hh:84
Eigen::MatrixXd Vshift
Shifted selection matrix for the previewed feet positions.
Definition: intermediate-qp-matrices.hh:59
state_variant_t const & State() const
Definition: intermediate-qp-matrices.hh:104
Eigen::VectorXd VcshiftY
Definition: intermediate-qp-matrices.hh:66
Definition: intermediate-qp-matrices.hh:79
Eigen::VectorXd VcY
Definition: intermediate-qp-matrices.hh:63
Eigen::MatrixXd V_f
Selection matrix for relative feet positions.
Definition: intermediate-qp-matrices.hh:70
state_variant_s state_variant_t
Definition: intermediate-qp-matrices.hh:74
void dump_state(std::ostream &aos)
Definition: intermediate-qp-matrices.cpp:119
void SupportState(const support_state_t &SupportState)
Definition: intermediate-qp-matrices.hh:129
Definition: intermediate-qp-matrices.hh:44
std::ostream & operator<<(std::ostream &os, const COMPosition_s &aCp)
Definition: pgtypes.hh:62
Eigen::VectorXd Vc_fX
Selection matrix for the current foot position.
Definition: intermediate-qp-matrices.hh:68
void CoM(const com_t &CoM)
Definition: intermediate-qp-matrices.hh:114
Eigen::VectorXd VcshiftX
Shifted selection matrix multiplied with the current feet position.
Definition: intermediate-qp-matrices.hh:66
objective_variant_t const & Objective(objective_e type) const
Definition: intermediate-qp-matrices.cpp:46
Custom (value based) container providing intermediate elements for the construction of a QP...
Definition: intermediate-qp-matrices.hh:37
support_state_t SupportState
Current support state.
Definition: intermediate-qp-matrices.hh:72
trunk_t const & Trunk() const
Definition: intermediate-qp-matrices.hh:116
com_t const & CoM() const
Definition: intermediate-qp-matrices.hh:113
linear_inequality_t const & Inequalities(ineq_e type) const
Definition: intermediate-qp-matrices.cpp:73
void dump_objective(objective_e type, std::ostream &aos)
Definition: intermediate-qp-matrices.cpp:103
void dump(const char *filename) const
Definition: intermediate-qp-matrices.cpp:144
Eigen::VectorXd VcX
Selection matrix multiplied with the current foot position.
Definition: intermediate-qp-matrices.hh:63
double weight
Ponderation.
Definition: intermediate-qp-matrices.hh:81
void Trunk(const trunk_t &Trunk)
Definition: intermediate-qp-matrices.hh:117
reference_t & Reference()
Definition: intermediate-qp-matrices.hh:120
state_variant_t & State()
Definition: intermediate-qp-matrices.hh:105
std::ostream & print(std::ostream &o) const
Definition: intermediate-qp-matrices.cpp:138
IntermedQPMat()
Definition: intermediate-qp-matrices.cpp:34
support_state_t & SupportState()
Definition: intermediate-qp-matrices.hh:126
support_state_t const & SupportState() const
Definition: intermediate-qp-matrices.hh:123
Simulate a rigid body
Definition: patterngeneratorinterface.hh:41
trunk_t Trunk
TrunkState.
Definition: intermediate-qp-matrices.hh:54
objective_variant_s objective_variant_t
Definition: intermediate-qp-matrices.hh:89