robotoc::SwitchingConstraintData Class Reference

Data for the switching constraint. More...

#include <switching_constraint_data.hpp>

Public Member Functions
	SwitchingConstraintData (const Robot &robot)
	Constructs a switching constraint. More...
	SwitchingConstraintData ()
	Default constructor. More...
	~SwitchingConstraintData ()=default
	Default destructor. More...
	SwitchingConstraintData (const SwitchingConstraintData &)=default
	Default copy constructor. More...
SwitchingConstraintData &	operator= (const SwitchingConstraintData &)=default
	Default copy assign operator. More...
	SwitchingConstraintData (SwitchingConstraintData &&) noexcept=default
	Default move constructor. More...
SwitchingConstraintData &	operator= (SwitchingConstraintData &&) noexcept=default
	Default move assign operator. More...
void	setDimension (const int dims)
	Sets the dimension of the switching constraint. More...
Eigen::Block< Eigen::MatrixXd >	Pq ()
	Jacobian of the original contact position constraint w.r.t. q. More...
const Eigen::Block< const Eigen::MatrixXd >	Pq () const
	const version of SwitchingConstraintJacobian::Pq(). More...
int	dims () const
	Returns the dimension of the switching constraint. More...

Public Attributes
Eigen::VectorXd	q
Eigen::VectorXd	dq
Eigen::VectorXd	PqT_xi

Detailed Description

Data for the switching constraint.

Constructor & Destructor Documentation

SwitchingConstraintData() [1/4]

robotoc::SwitchingConstraintData::SwitchingConstraintData

(

const Robot &

robot

)

Constructs a switching constraint.

Parameters

[in]

robot

Robot model.

SwitchingConstraintData() [2/4]

robotoc::SwitchingConstraintData::SwitchingConstraintData

(

)

Default constructor.

~SwitchingConstraintData()

robotoc::SwitchingConstraintData::~SwitchingConstraintData ( )

default

Default destructor.

SwitchingConstraintData() [3/4]

robotoc::SwitchingConstraintData::SwitchingConstraintData ( const SwitchingConstraintData &  )

default

Default copy constructor.

SwitchingConstraintData() [4/4]

robotoc::SwitchingConstraintData::SwitchingConstraintData ( SwitchingConstraintData &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

dims()

int robotoc::SwitchingConstraintData::dims ( ) const

inline

Returns the dimension of the switching constraint.

Returns

Dimension of the switching constraint.

operator=() [1/2]

SwitchingConstraintData & robotoc::SwitchingConstraintData::operator= ( const SwitchingConstraintData &  )

default

Default copy assign operator.

operator=() [2/2]

SwitchingConstraintData & robotoc::SwitchingConstraintData::operator= ( SwitchingConstraintData &&  )

defaultnoexcept

Default move assign operator.

Pq() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SwitchingConstraintData::Pq ( )

inline

Jacobian of the original contact position constraint w.r.t. q.

Returns

Reference to the Jacobian. Size is ImpactStatus::dimf() x Robot::dimv().

Pq() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SwitchingConstraintData::Pq ( ) const

inline

const version of SwitchingConstraintJacobian::Pq().

setDimension()

void robotoc::SwitchingConstraintData::setDimension ( const int  dims )

inline

Sets the dimension of the switching constraint.

Parameters

[in]

dims

The dimension of the switching constraint. Must be non-negative.

Member Data Documentation

dq

Eigen::VectorXd robotoc::SwitchingConstraintData::dq

PqT_xi

Eigen::VectorXd robotoc::SwitchingConstraintData::PqT_xi

q

Eigen::VectorXd robotoc::SwitchingConstraintData::q

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

• /github/workspace/include/robotoc/dynamics/switching_constraint_data.hpp