diff --git a/_sources/api/classComputeLinksDistance.rst.txt b/_sources/api/classComputeLinksDistance.rst.txt new file mode 100644 index 00000000..9ed726ca --- /dev/null +++ b/_sources/api/classComputeLinksDistance.rst.txt @@ -0,0 +1,27 @@ +.. _exhale_class_classComputeLinksDistance: + +Class ComputeLinksDistance +========================== + +- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h` + + +Nested Relationships +-------------------- + + +Nested Types +************ + +- :ref:`exhale_class_classComputeLinksDistance_1_1LinksPair` + + +Class Documentation +------------------- + + +.. doxygenclass:: ComputeLinksDistance + :project: OpenSoT + :members: + :protected-members: + :undoc-members: \ No newline at end of file diff --git a/_sources/api/classComputeLinksDistance_1_1LinksPair.rst.txt b/_sources/api/classComputeLinksDistance_1_1LinksPair.rst.txt new file mode 100644 index 00000000..3763a4d5 --- /dev/null +++ b/_sources/api/classComputeLinksDistance_1_1LinksPair.rst.txt @@ -0,0 +1,23 @@ +.. _exhale_class_classComputeLinksDistance_1_1LinksPair: + +Class ComputeLinksDistance::LinksPair +===================================== + +- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h` + + +Nested Relationships +-------------------- + +This class is a nested type of :ref:`exhale_class_classComputeLinksDistance`. + + +Class Documentation +------------------- + + +.. doxygenclass:: ComputeLinksDistance::LinksPair + :project: OpenSoT + :members: + :protected-members: + :undoc-members: \ No newline at end of file diff --git a/_sources/api/classXBot_1_1Logger.rst.txt b/_sources/api/classGradientVector.rst.txt similarity index 55% rename from _sources/api/classXBot_1_1Logger.rst.txt rename to _sources/api/classGradientVector.rst.txt index cbcc50a6..ec7aa88e 100644 --- a/_sources/api/classXBot_1_1Logger.rst.txt +++ b/_sources/api/classGradientVector.rst.txt @@ -1,16 +1,16 @@ -.. _exhale_class_classXBot_1_1Logger: +.. _exhale_class_classGradientVector: -Class Logger -============ +Class GradientVector +==================== -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp` +- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h` Class Documentation ------------------- -.. doxygenclass:: XBot::Logger +.. doxygenclass:: GradientVector :project: OpenSoT :members: :protected-members: diff --git a/_sources/api/classXBot_1_1Endl.rst.txt b/_sources/api/classLinkPairDistance.rst.txt similarity index 54% rename from _sources/api/classXBot_1_1Endl.rst.txt rename to _sources/api/classLinkPairDistance.rst.txt index 47a970ee..35e3fa6b 100644 --- a/_sources/api/classXBot_1_1Endl.rst.txt +++ b/_sources/api/classLinkPairDistance.rst.txt @@ -1,16 +1,16 @@ -.. _exhale_class_classXBot_1_1Endl: +.. _exhale_class_classLinkPairDistance: -Class Endl -========== +Class LinkPairDistance +====================== -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp` +- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h` Class Documentation ------------------- -.. doxygenclass:: XBot::Endl +.. doxygenclass:: LinkPairDistance :project: OpenSoT :members: :protected-members: diff --git a/_sources/api/classOpenSoT_1_1tasks_1_1ConstraintToTask.rst.txt b/_sources/api/classOpenSoT_1_1tasks_1_1ConstraintToTask.rst.txt deleted file mode 100644 index 5c930ff1..00000000 --- a/_sources/api/classOpenSoT_1_1tasks_1_1ConstraintToTask.rst.txt +++ /dev/null @@ -1,26 +0,0 @@ -.. _exhale_class_classOpenSoT_1_1tasks_1_1ConstraintToTask: - -Class ConstraintToTask -====================== - -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h` - - -Inheritance Relationships -------------------------- - -Base Type -********* - -- ``public OpenSoT::Task< Eigen::MatrixXd, Eigen::VectorXd >`` (:ref:`exhale_class_classOpenSoT_1_1Task`) - - -Class Documentation -------------------- - - -.. doxygenclass:: OpenSoT::tasks::ConstraintToTask - :project: OpenSoT - :members: - :protected-members: - :undoc-members: \ No newline at end of file diff --git a/_sources/api/classOpenSoT_1_1tasks_1_1velocity_1_1CollisionAvoidance.rst.txt b/_sources/api/classOpenSoT_1_1tasks_1_1velocity_1_1CollisionAvoidance.rst.txt deleted file mode 100644 index 92532c25..00000000 --- a/_sources/api/classOpenSoT_1_1tasks_1_1velocity_1_1CollisionAvoidance.rst.txt +++ /dev/null @@ -1,26 +0,0 @@ -.. _exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1CollisionAvoidance: - -Class CollisionAvoidance -======================== - -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h` - - -Inheritance Relationships -------------------------- - -Base Type -********* - -- ``public OpenSoT::Task< Eigen::MatrixXd, Eigen::VectorXd >`` (:ref:`exhale_class_classOpenSoT_1_1Task`) - - -Class Documentation -------------------- - - -.. doxygenclass:: OpenSoT::tasks::velocity::CollisionAvoidance - :project: OpenSoT - :members: - :protected-members: - :undoc-members: \ No newline at end of file diff --git a/_sources/api/classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilter.rst.txt b/_sources/api/classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilter.rst.txt deleted file mode 100644 index 8233479c..00000000 --- a/_sources/api/classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilter.rst.txt +++ /dev/null @@ -1,17 +0,0 @@ -.. _exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilter: - -Template Class SecondOrderFilter -================================ - -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h` - - -Class Documentation -------------------- - - -.. doxygenclass:: OpenSoT::tasks::velocity::SecondOrderFilter - :project: OpenSoT - :members: - :protected-members: - :undoc-members: \ No newline at end of file diff --git a/_sources/api/classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilterArray.rst.txt b/_sources/api/classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilterArray.rst.txt deleted file mode 100644 index 48d584ed..00000000 --- a/_sources/api/classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilterArray.rst.txt +++ /dev/null @@ -1,17 +0,0 @@ -.. _exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilterArray: - -Template Class SecondOrderFilterArray -===================================== - -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h` - - -Class Documentation -------------------- - - -.. doxygenclass:: OpenSoT::tasks::velocity::SecondOrderFilterArray - :project: OpenSoT - :members: - :protected-members: - :undoc-members: \ No newline at end of file diff --git a/_sources/api/classOpenSoT_1_1utils_1_1ForceOptimization.rst.txt b/_sources/api/classOpenSoT_1_1utils_1_1ForceOptimization.rst.txt new file mode 100644 index 00000000..19ac8de6 --- /dev/null +++ b/_sources/api/classOpenSoT_1_1utils_1_1ForceOptimization.rst.txt @@ -0,0 +1,17 @@ +.. _exhale_class_classOpenSoT_1_1utils_1_1ForceOptimization: + +Class ForceOptimization +======================= + +- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h` + + +Class Documentation +------------------- + + +.. doxygenclass:: OpenSoT::utils::ForceOptimization + :project: OpenSoT + :members: + :protected-members: + :undoc-members: \ No newline at end of file diff --git a/_sources/api/classXBot_1_1LoggerClass.rst.txt b/_sources/api/classXBot_1_1LoggerClass.rst.txt deleted file mode 100644 index ece15e8a..00000000 --- a/_sources/api/classXBot_1_1LoggerClass.rst.txt +++ /dev/null @@ -1,17 +0,0 @@ -.. _exhale_class_classXBot_1_1LoggerClass: - -Class LoggerClass -================= - -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp` - - -Class Documentation -------------------- - - -.. doxygenclass:: XBot::LoggerClass - :project: OpenSoT - :members: - :protected-members: - :undoc-members: \ No newline at end of file diff --git a/_sources/api/classfcl_1_1CollisionObject.rst.txt b/_sources/api/classfcl_1_1CollisionObject.rst.txt new file mode 100644 index 00000000..769a0f65 --- /dev/null +++ b/_sources/api/classfcl_1_1CollisionObject.rst.txt @@ -0,0 +1,17 @@ +.. _exhale_class_classfcl_1_1CollisionObject: + +Template Class CollisionObject +============================== + +- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h` + + +Class Documentation +------------------- + + +.. doxygenclass:: fcl::CollisionObject + :project: OpenSoT + :members: + :protected-members: + :undoc-members: \ No newline at end of file diff --git a/_sources/api/define_SoLib_8h_1af03f20eb2a5df65169befb05ef28d788.rst.txt b/_sources/api/define_SoLib_8h_1af03f20eb2a5df65169befb05ef28d788.rst.txt deleted file mode 100644 index 94960f84..00000000 --- a/_sources/api/define_SoLib_8h_1af03f20eb2a5df65169befb05ef28d788.rst.txt +++ /dev/null @@ -1,14 +0,0 @@ -.. _exhale_define_SoLib_8h_1af03f20eb2a5df65169befb05ef28d788: - -Define REGISTER_SO_LIB_ -======================= - -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h` - - -Define Documentation --------------------- - - -.. doxygendefine:: REGISTER_SO_LIB_ - :project: OpenSoT \ No newline at end of file diff --git a/_sources/api/dir__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks.rst.txt b/_sources/api/dir__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks.rst.txt index e339674f..336e6b3f 100644 --- a/_sources/api/dir__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks.rst.txt +++ b/_sources/api/dir__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks.rst.txt @@ -25,7 +25,6 @@ Files ----- - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h` diff --git a/_sources/api/dir__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity.rst.txt b/_sources/api/dir__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity.rst.txt index 279b8329..643a5c88 100644 --- a/_sources/api/dir__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity.rst.txt +++ b/_sources/api/dir__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity.rst.txt @@ -19,7 +19,6 @@ Files - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Gaze.h` diff --git a/_sources/api/dir__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils.rst.txt b/_sources/api/dir__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils.rst.txt index 12c37c81..90a75978 100644 --- a/_sources/api/dir__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils.rst.txt +++ b/_sources/api/dir__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils.rst.txt @@ -20,11 +20,12 @@ Files - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AffineUtils.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Indices.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h.rst.txt index bf3b3c8f..bb7b7cba 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h.rst.txt @@ -32,20 +32,32 @@ Includes - ``OpenSoT/version.h`` +- ``XBotInterface/Logger.hpp`` + - ``matlogger2/matlogger2.h`` - ``memory`` - ``string`` -- ``xbot2_interface/logger.h`` - Included By ----------- +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Solver.h` + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubConstraint.h` + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h` + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_Aggregated.h` + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_BilateralConstraint.h` + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h` + - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimits.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsECBF.h` @@ -56,10 +68,6 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_VelocityLimits.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_Aggregated.h` - -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_BilateralConstraint.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h` @@ -70,8 +78,6 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_WrenchLimits.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianPositionConstraint.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianVelocity.h` @@ -88,14 +94,6 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_VelocityLimits.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Solver.h` - -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubConstraint.h` - -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h` - -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h` - diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Solver.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Solver.h.rst.txt index 56cb2036..1c96d285 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Solver.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Solver.h.rst.txt @@ -42,10 +42,10 @@ Included By ----------- -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_eHQP.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_HCOD.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_eHQP.h` + - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_iHQP.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_l1HQP.h` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h.rst.txt index 1adc6c9c..0bff832f 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h.rst.txt @@ -60,6 +60,8 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h` + diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h.rst.txt index dc86932b..8c80b83c 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h.rst.txt @@ -32,6 +32,10 @@ Includes - ``OpenSoT/Constraint.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h`) +- ``XBotInterface/Logger.hpp`` + +- ``XBotInterface/ModelInterface.h`` + - ``assert.h`` - ``list`` @@ -42,33 +46,37 @@ Includes - ``vector`` -- ``xbot2_interface/logger.h`` - -- ``xbot2_interface/xbotinterface2.h`` - Included By ----------- -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Solver.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h` + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h` + - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEnd.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_OSQPBackEnd.h` + - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_iHQP.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_nHQP.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_OSQPBackEnd.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_proxQPBackEnd.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_qpSWIFTBackEnd.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h` + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h` + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h` + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h` @@ -84,10 +92,6 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Postural.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h` - -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_Contact.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_IMU.h` @@ -100,18 +104,10 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h` - -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h` - -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h` @@ -126,6 +122,8 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_PureRolling.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h` + diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h.rst.txt index 9be2d38a..b4935339 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h.rst.txt @@ -34,7 +34,7 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` @@ -58,6 +58,8 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AffineUtils.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h` + diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h.rst.txt index d0355554..b85d4454 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h.rst.txt @@ -38,6 +38,12 @@ Includes +Included By +----------- + + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h` + diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_TorqueLimits.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_TorqueLimits.h.rst.txt index 9b8849bb..2789db90 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_TorqueLimits.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_TorqueLimits.h.rst.txt @@ -36,7 +36,7 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_VelocityLimits.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_VelocityLimits.h.rst.txt index e914a47c..f3fbe417 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_VelocityLimits.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_VelocityLimits.h.rst.txt @@ -36,7 +36,7 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h.rst.txt index 2ffa3425..51b74171 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h.rst.txt @@ -40,11 +40,17 @@ Includes - ``OpenSoT/utils/Piler.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h`) +- ``XBotInterface/ModelInterface.h`` + - ``kdl/frames.hpp`` -- ``xbot2_interface/xbotinterface2.h`` +Included By +----------- + + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h.rst.txt index 377e2dc1..84a31318 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h.rst.txt @@ -38,12 +38,12 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) +- ``XBotInterface/ModelInterface.h`` + - ``kdl/frames.hpp`` - ``memory`` -- ``xbot2_interface/xbotinterface2.h`` - Included By @@ -52,6 +52,8 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h` + diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h.rst.txt index 0f332c48..c27c12bc 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h.rst.txt @@ -40,9 +40,9 @@ Includes - ``OpenSoT/utils/Piler.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h`) -- ``kdl/frames.hpp`` +- ``XBotInterface/ModelInterface.h`` -- ``xbot2_interface/xbotinterface2.h`` +- ``kdl/frames.hpp`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_StaticConstraint.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_StaticConstraint.h.rst.txt index 59d83da6..5d965bad 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_StaticConstraint.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_StaticConstraint.h.rst.txt @@ -34,7 +34,7 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.rst.txt index 0688fa9b..dbb6259c 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.rst.txt @@ -36,21 +36,13 @@ Includes - ``OpenSoT/tasks/velocity/Cartesian.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h`) +- ``XBotInterface/ModelInterface.h`` + - ``moveit_msgs/PlanningSceneWorld.h`` - ``srdfdom/model.h`` -- ``xbot2_interface/collision.h`` - -- ``xbot2_interface/xbotinterface2.h`` - - -Included By ------------ - - -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h` @@ -59,6 +51,8 @@ Namespaces ---------- +- :ref:`namespace_fcl` + - :ref:`namespace_OpenSoT` - :ref:`namespace_OpenSoT__constraints` @@ -70,5 +64,14 @@ Classes ------- +- :ref:`exhale_class_classfcl_1_1CollisionObject` + - :ref:`exhale_class_classOpenSoT_1_1constraints_1_1velocity_1_1CollisionAvoidance` + +Typedefs +-------- + + +- :ref:`exhale_typedef_namespacefcl_1ad8615572c5e4ddaf74ecafd812f6798d` + diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_ConvexHull.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_ConvexHull.h.rst.txt index 8e33076a..7340b8e6 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_ConvexHull.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_ConvexHull.h.rst.txt @@ -38,9 +38,9 @@ Includes - ``OpenSoT/utils/convex_hull_utils.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h`) -- ``kdl/frames.hpp`` +- ``XBotInterface/ModelInterface.h`` -- ``xbot2_interface/xbotinterface2.h`` +- ``kdl/frames.hpp`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimits.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimits.h.rst.txt index cfc632ee..4b8694ba 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimits.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimits.h.rst.txt @@ -30,9 +30,9 @@ Includes -------- -- ``OpenSoT/Constraint.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h`) +- ``Eigen/Dense`` -- ``xbot2_interface/xbotinterface2.h`` +- ``OpenSoT/Constraint.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h`) diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimitsInvariace.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimitsInvariace.h.rst.txt index 6d02c259..eb7acf73 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimitsInvariace.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimitsInvariace.h.rst.txt @@ -34,7 +34,7 @@ Includes - ``OpenSoT/Constraint.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_OmniWheels4X.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_OmniWheels4X.h.rst.txt index d5bbf821..1e0e206e 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_OmniWheels4X.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_OmniWheels4X.h.rst.txt @@ -32,7 +32,7 @@ Includes - ``OpenSoT/Constraint.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_VelocityLimits.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_VelocityLimits.h.rst.txt index b15284e0..f236115f 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_VelocityLimits.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_VelocityLimits.h.rst.txt @@ -34,8 +34,6 @@ Includes - ``OpenSoT/Constraint.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h`) -- ``xbot2_interface/xbotinterface2.h`` - diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEnd.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEnd.h.rst.txt index 19e07130..7b486c71 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEnd.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEnd.h.rst.txt @@ -34,9 +34,9 @@ Includes - ``OpenSoT/Task.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h`) -- ``boost/any.hpp`` +- ``XBotInterface/Logger.hpp`` -- ``xbot2_interface/logger.h`` +- ``boost/any.hpp`` @@ -46,18 +46,18 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEndFactory.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_eiQuadProgBackEnd.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_GLPKBackEnd.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_l1HQP.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_OSQPBackEnd.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_proxQPBackEnd.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_QPOasesBackEnd.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_eiQuadProgBackEnd.h` + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_l1HQP.h` + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_proxQPBackEnd.h` + - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_qpSWIFTBackEnd.h` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_iHQP.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_iHQP.h.rst.txt index 2e4bfb04..0c80acab 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_iHQP.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_iHQP.h.rst.txt @@ -54,6 +54,8 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h` + diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h.rst.txt index b7fb5ee7..03a502f4 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h.rst.txt @@ -46,10 +46,10 @@ Included By ----------- -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_eHQP.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_HCOD.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_eHQP.h` + - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_l1HQP.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h.rst.txt deleted file mode 100644 index 13c5a3a2..00000000 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h.rst.txt +++ /dev/null @@ -1,56 +0,0 @@ - -.. _file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h: - -File ConstraintToTask.h -======================= - -|exhale_lsh| :ref:`Parent directory ` (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/tasks``) - -.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS - - -.. contents:: Contents - :local: - :backlinks: none - -Definition (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/tasks/ConstraintToTask.h``) -------------------------------------------------------------------------------------------- - - -.. toctree:: - :maxdepth: 1 - - program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h.rst - - - - - -Includes --------- - - -- ``OpenSoT/Constraint.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h`) - -- ``OpenSoT/Task.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h`) - - - - - - -Namespaces ----------- - - -- :ref:`namespace_OpenSoT` - -- :ref:`namespace_OpenSoT__tasks` - - -Classes -------- - - -- :ref:`exhale_class_classOpenSoT_1_1tasks_1_1ConstraintToTask` - diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h.rst.txt index 1b59e6bf..a67090bc 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h.rst.txt @@ -36,7 +36,7 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h.rst.txt index 1a15ffe7..6f580cbf 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h.rst.txt @@ -34,7 +34,7 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h.rst.txt index 3f9d296a..6e752989 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h.rst.txt @@ -34,7 +34,7 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` @@ -44,6 +44,8 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h` + diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h.rst.txt index e21e93db..6595b738 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h.rst.txt @@ -36,7 +36,7 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Cartesian.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Cartesian.h.rst.txt index b872b21c..bb8b84dd 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Cartesian.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Cartesian.h.rst.txt @@ -36,11 +36,9 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``kdl/frames.hpp`` +- ``XBotInterface/ModelInterface.h`` -- ``xbot2_interface/common/utils.h`` - -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/Utils.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_CoM.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_CoM.h.rst.txt index 3af8f8be..0fdd8852 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_CoM.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_CoM.h.rst.txt @@ -34,9 +34,9 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/common/utils.h`` +- ``XBotInterface/ModelInterface.h`` -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/Utils.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Contact.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Contact.h.rst.txt index 9859a4fc..17adebbc 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Contact.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Contact.h.rst.txt @@ -34,9 +34,9 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/common/utils.h`` +- ``XBotInterface/ModelInterface.h`` -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/Utils.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_DynamicFeasibility.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_DynamicFeasibility.h.rst.txt index 54afa1f1..f5d82515 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_DynamicFeasibility.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_DynamicFeasibility.h.rst.txt @@ -34,7 +34,7 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Postural.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Postural.h.rst.txt index 06dd7da9..baa6e6cd 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Postural.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Postural.h.rst.txt @@ -36,7 +36,7 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_Contact.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_Contact.h.rst.txt index a51bf0e4..722801af 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_Contact.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_Contact.h.rst.txt @@ -32,7 +32,7 @@ Includes - ``OpenSoT/Task.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_IMU.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_IMU.h.rst.txt index a30436bf..d77c8454 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_IMU.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_IMU.h.rst.txt @@ -32,7 +32,7 @@ Includes - ``OpenSoT/Task.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Cartesian.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Cartesian.h.rst.txt index 3077900e..6666878c 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Cartesian.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Cartesian.h.rst.txt @@ -34,9 +34,9 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/common/utils.h`` +- ``XBotInterface/ModelInterface.h`` -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/Utils.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_CoM.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_CoM.h.rst.txt index d6513250..e7beffd4 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_CoM.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_CoM.h.rst.txt @@ -34,9 +34,9 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``kdl/frames.hpp`` +- ``XBotInterface/ModelInterface.h`` -- ``xbot2_interface/xbotinterface2.h`` +- ``kdl/frames.hpp`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_FloatingBase.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_FloatingBase.h.rst.txt index 8345d9c9..87e7aa3d 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_FloatingBase.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_FloatingBase.h.rst.txt @@ -34,10 +34,16 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` +Included By +----------- + + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h` + diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h.rst.txt index a62fc008..0c691d1f 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h.rst.txt @@ -34,9 +34,9 @@ Includes - ``OpenSoT/Task.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h`) -- ``kdl/frames.hpp`` +- ``XBotInterface/ModelInterface.h`` -- ``xbot2_interface/xbotinterface2.h`` +- ``kdl/frames.hpp`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h.rst.txt index 2f964fd7..228fbd70 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h.rst.txt @@ -34,9 +34,9 @@ Includes - ``OpenSoT/Task.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h`) -- ``kdl/frames.hpp`` +- ``XBotInterface/ModelInterface.h`` -- ``xbot2_interface/xbotinterface2.h`` +- ``kdl/frames.hpp`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h.rst.txt index 8339f1fb..88095c4d 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h.rst.txt @@ -32,8 +32,6 @@ Includes - ``OpenSoT/tasks/velocity/Cartesian.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h`) -- ``xbot2_interface/common/utils.h`` - @@ -58,7 +56,3 @@ Classes - :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1CartesianAdmittance` -- :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilter` - -- :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilterArray` - diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h.rst.txt index 2f01b890..a7980ba9 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h.rst.txt @@ -34,9 +34,9 @@ Includes - ``OpenSoT/Task.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h`) -- ``kdl/frames.hpp`` +- ``XBotInterface/ModelInterface.h`` -- ``xbot2_interface/xbotinterface2.h`` +- ``kdl/frames.hpp`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h.rst.txt deleted file mode 100644 index 8905d194..00000000 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h.rst.txt +++ /dev/null @@ -1,58 +0,0 @@ - -.. _file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h: - -File CollisionAvoidance.h -========================= - -|exhale_lsh| :ref:`Parent directory ` (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/tasks/velocity``) - -.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS - - -.. contents:: Contents - :local: - :backlinks: none - -Definition (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/tasks/velocity/CollisionAvoidance.h``) ------------------------------------------------------------------------------------------------------- - - -.. toctree:: - :maxdepth: 1 - - program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h.rst - - - - - -Includes --------- - - -- ``OpenSoT/Task.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h`) - -- ``OpenSoT/constraints/velocity/CollisionAvoidance.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h`) - - - - - - -Namespaces ----------- - - -- :ref:`namespace_OpenSoT` - -- :ref:`namespace_OpenSoT__tasks` - -- :ref:`namespace_OpenSoT__tasks__velocity` - - -Classes -------- - - -- :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1CollisionAvoidance` - diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h.rst.txt index 0ae4b4ca..6bae152b 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h.rst.txt @@ -34,7 +34,7 @@ Includes - ``OpenSoT/Task.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Gaze.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Gaze.h.rst.txt index be5c0365..e00abfb9 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Gaze.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Gaze.h.rst.txt @@ -36,7 +36,7 @@ Includes - ``OpenSoT/utils/cartesian_utils.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_JointAdmittance.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_JointAdmittance.h.rst.txt index d288060a..c7b54943 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_JointAdmittance.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_JointAdmittance.h.rst.txt @@ -54,5 +54,3 @@ Classes - :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1JointAdmittance` -- :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilter` - diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_LinearMomentum.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_LinearMomentum.h.rst.txt index 8396f3aa..6323b57d 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_LinearMomentum.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_LinearMomentum.h.rst.txt @@ -34,9 +34,9 @@ Includes - ``OpenSoT/Task.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h`) -- ``kdl/frames.hpp`` +- ``XBotInterface/ModelInterface.h`` -- ``xbot2_interface/xbotinterface2.h`` +- ``kdl/frames.hpp`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_MinimumEffort.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_MinimumEffort.h.rst.txt index c7f7c625..246a9bb7 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_MinimumEffort.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_MinimumEffort.h.rst.txt @@ -34,7 +34,7 @@ Includes - ``OpenSoT/utils/cartesian_utils.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Postural.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Postural.h.rst.txt index 90bc8cd6..8184cd0b 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Postural.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Postural.h.rst.txt @@ -30,9 +30,11 @@ Includes -------- +- ``Eigen/Dense`` + - ``OpenSoT/Task.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``kdl/frames.hpp`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_PureRolling.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_PureRolling.h.rst.txt index 08d4e2f3..54283fec 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_PureRolling.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_PureRolling.h.rst.txt @@ -34,7 +34,7 @@ Includes - ``OpenSoT/Task.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h.rst.txt index 4da6a7fe..7e2223b0 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h.rst.txt @@ -46,6 +46,8 @@ Included By ----------- +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h` + - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimits.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsECBF.h` @@ -64,10 +66,14 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_StaticConstraint.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_l1HQP.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h` + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h` + +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h` + - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Cartesian.h` @@ -88,14 +94,10 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h` - -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h` - -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AffineUtils.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h` + - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_variables_Torque.h` @@ -137,7 +139,7 @@ Functions - :ref:`exhale_function_namespaceOpenSoT_1af94ac41af43695e55a0e7eef9563bd91` -- :ref:`exhale_function_namespaceOpenSoT_1ae09fdd160f5f703ffc121938239120b0` +- :ref:`exhale_function_namespaceOpenSoT_1ab7b31c5b7546ce935b8c9beddf86b96c` Typedefs diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h.rst.txt index 6fd575dc..26b1a7cd 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h.rst.txt @@ -44,7 +44,7 @@ Includes - ``OpenSoT/tasks/velocity/CoM.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h`) -- ``xbot2_interface/logger.h`` +- ``XBotInterface/Logger.hpp`` @@ -56,6 +56,8 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h` + - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h` @@ -79,16 +81,16 @@ Functions --------- +- :ref:`exhale_function_namespaceOpenSoT_1a35f3ae25b8630915d1768f610ae80013` + - :ref:`exhale_function_namespaceOpenSoT_1a49d7bab96e0b74e7412c617a7d06a1c6` -- :ref:`exhale_function_namespaceOpenSoT_1a35f3ae25b8630915d1768f610ae80013` +- :ref:`exhale_function_namespaceOpenSoT_1aa1ff64c5260ccbe2f64c4b126a85bb22` - :ref:`exhale_function_namespaceOpenSoT_1a062f99e2d6db737dd7f13f156574a1d0` - :ref:`exhale_function_namespaceOpenSoT_1a2c5d7dd14b11e588a36c0eecb0ed6ed5` -- :ref:`exhale_function_namespaceOpenSoT_1aa1ff64c5260ccbe2f64c4b126a85bb22` - - :ref:`exhale_function_namespaceOpenSoT_1a28dfa90c3909a4091eac86ddf0dba03b` - :ref:`exhale_function_namespaceOpenSoT_1ae24411e8b9b45d1bf190e8597c709e37` @@ -97,23 +99,23 @@ Functions - :ref:`exhale_function_namespaceOpenSoT_1a5795e43e2896c1e1b1ad9a7ff10dddeb` -- :ref:`exhale_function_namespaceOpenSoT_1a9a9f6cea5ef3d3d8c3efdac6814fd29f` - - :ref:`exhale_function_namespaceOpenSoT_1a4c31d7dd8eccb05044007ba7448dd263` - :ref:`exhale_function_namespaceOpenSoT_1adaea99bdf94335a8999e430d8746e7d3` - :ref:`exhale_function_namespaceOpenSoT_1ac8b11062807f3c28362a3ebec6966c48` +- :ref:`exhale_function_namespaceOpenSoT_1a9a9f6cea5ef3d3d8c3efdac6814fd29f` + - :ref:`exhale_function_namespaceOpenSoT_1ace43b0e0f96fed6c9d0d6c7f85f722bf` -- :ref:`exhale_function_namespaceOpenSoT_1a501cda32286c6a526b42ec3b2690eef2` +- :ref:`exhale_function_namespaceOpenSoT_1ab831211523cf9d0c5c9ec1d4968ef6a7` - :ref:`exhale_function_namespaceOpenSoT_1a61aa6ca24b3a5cdbdad8656907e80153` -- :ref:`exhale_function_namespaceOpenSoT_1a422e1a9b98b71861968d14a251c54083` +- :ref:`exhale_function_namespaceOpenSoT_1af8aa6bbf8c8362fe1372db8ae2099071` -- :ref:`exhale_function_namespaceOpenSoT_1ab831211523cf9d0c5c9ec1d4968ef6a7` +- :ref:`exhale_function_namespaceOpenSoT_1a422e1a9b98b71861968d14a251c54083` -- :ref:`exhale_function_namespaceOpenSoT_1af8aa6bbf8c8362fe1372db8ae2099071` +- :ref:`exhale_function_namespaceOpenSoT_1a501cda32286c6a526b42ec3b2690eef2` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h.rst.txt new file mode 100644 index 00000000..e9883d6c --- /dev/null +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h.rst.txt @@ -0,0 +1,74 @@ + +.. _file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h: + +File ForceOptimization.h +======================== + +|exhale_lsh| :ref:`Parent directory ` (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils``) + +.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS + + +.. contents:: Contents + :local: + :backlinks: none + +Definition (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/ForceOptimization.h``) +-------------------------------------------------------------------------------------------- + + +.. toctree:: + :maxdepth: 1 + + program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h.rst + + + + + +Includes +-------- + + +- ``OpenSoT/SubTask.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h`) + +- ``OpenSoT/Task.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h`) + +- ``OpenSoT/constraints/GenericConstraint.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h`) + +- ``OpenSoT/constraints/TaskToConstraint.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h`) + +- ``OpenSoT/constraints/force/CoP.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h`) + +- ``OpenSoT/constraints/force/FrictionCone.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h`) + +- ``OpenSoT/solvers/iHQP.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_iHQP.h`) + +- ``OpenSoT/tasks/MinimizeVariable.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h`) + +- ``OpenSoT/tasks/force/FloatingBase.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_FloatingBase.h`) + +- ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) + +- ``OpenSoT/utils/AutoStack.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h`) + + + + + + +Namespaces +---------- + + +- :ref:`namespace_OpenSoT` + +- :ref:`namespace_OpenSoT__utils` + + +Classes +------- + + +- :ref:`exhale_class_classOpenSoT_1_1utils_1_1ForceOptimization` + diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h.rst.txt index 397e937c..de8e26b4 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h.rst.txt @@ -34,7 +34,7 @@ Includes - ``OpenSoT/utils/AutoStack.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h`) -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/ModelInterface.h`` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h.rst.txt similarity index 62% rename from _sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h.rst.txt rename to _sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h.rst.txt index c268b292..d5e889b0 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h.rst.txt @@ -1,8 +1,8 @@ -.. _file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h: +.. _file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h: -File SoLib.h -============ +File LinkPairDistance.h +======================= |exhale_lsh| :ref:`Parent directory ` (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils``) @@ -13,41 +13,33 @@ File SoLib.h :local: :backlinks: none -Definition (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/SoLib.h``) --------------------------------------------------------------------------------- +Definition (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/LinkPairDistance.h``) +------------------------------------------------------------------------------------------- .. toctree:: :maxdepth: 1 - program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h.rst + program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h.rst -Includes --------- -- ``OpenSoT/utils/RtLog.hpp`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp`) +Included By +----------- -- ``dlfcn.h`` -- ``iostream`` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h` -- ``map`` -- ``string`` - - - - -Defines +Classes ------- -- :ref:`exhale_define_SoLib_8h_1af03f20eb2a5df65169befb05ef28d788` +- :ref:`exhale_class_classLinkPairDistance` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h.rst.txt index 34f494be..be860785 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h.rst.txt @@ -32,7 +32,7 @@ Includes - ``Eigen/Dense`` -- ``xbot2_interface/logger.h`` +- ``XBotInterface/RtLog.hpp`` @@ -46,6 +46,8 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h` +- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_OSQPBackEnd.h` + - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_eiQuadProgBackEnd.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_iHQP.h` @@ -54,8 +56,6 @@ Included By - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_nHQP.h` -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_OSQPBackEnd.h` - - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_proxQPBackEnd.h` - :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_qpSWIFTBackEnd.h` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp.rst.txt deleted file mode 100644 index 7a15ad9f..00000000 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp.rst.txt +++ /dev/null @@ -1,89 +0,0 @@ - -.. _file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp: - -File RtLog.hpp -============== - -|exhale_lsh| :ref:`Parent directory ` (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils``) - -.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS - - -.. contents:: Contents - :local: - :backlinks: none - -Definition (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/RtLog.hpp``) ----------------------------------------------------------------------------------- - - -.. toctree:: - :maxdepth: 1 - - program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp.rst - - - - - -Includes --------- - - -- ``boost/iostreams/device/array.hpp`` - -- ``boost/iostreams/stream.hpp`` - -- ``functional`` - -- ``iostream`` - -- ``stdarg.h`` - -- ``stdio.h`` - - - -Included By ------------ - - -- :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h` - - - - -Namespaces ----------- - - -- :ref:`namespace_XBot` - - -Classes -------- - - -- :ref:`exhale_class_classXBot_1_1Endl` - -- :ref:`exhale_class_classXBot_1_1Logger` - -- :ref:`exhale_class_classXBot_1_1LoggerClass` - - -Functions ---------- - - -- :ref:`exhale_function_namespaceXBot_1a48c441328a4d646780b2e33eee5ab936` - -- :ref:`exhale_function_namespaceXBot_1a07bcba42cd627cfb1e3337ef5a350a8f` - -- :ref:`exhale_function_namespaceXBot_1aea17097f79c305452e9da88f24c0163e` - -- :ref:`exhale_function_namespaceXBot_1acea1dce92da0305fd3e8bbc43037ae11` - -- :ref:`exhale_function_namespaceXBot_1ac7bbba8dd44d9db1c57cdef84dc53ae1` - -- :ref:`exhale_function_namespaceXBot_1a83cb02e7d7c3150488296268f1b523af` - diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h.rst.txt index f7e49a98..57a94740 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h.rst.txt @@ -65,6 +65,8 @@ Classes - :ref:`exhale_class_classCostFunction` +- :ref:`exhale_class_classGradientVector` + - :ref:`exhale_class_classLDLTInverse` - :ref:`exhale_class_classquaternion` diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h.rst.txt new file mode 100644 index 00000000..d38871f2 --- /dev/null +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h.rst.txt @@ -0,0 +1,98 @@ + +.. _file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h: + +File collision_utils.h +====================== + +|exhale_lsh| :ref:`Parent directory ` (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils``) + +.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS + + +.. contents:: Contents + :local: + :backlinks: none + +Definition (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/collision_utils.h``) +------------------------------------------------------------------------------------------ + + +.. toctree:: + :maxdepth: 1 + + program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h.rst + + + + + +Includes +-------- + + +- ``OpenSoT/utils/LinkPairDistance.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h`) + +- ``XBotInterface/ModelInterface.h`` + +- ``fcl/config.h`` + +- ``fcl/narrowphase/collision.h`` + +- ``fcl/narrowphase/collision_object.h`` + +- ``fcl/narrowphase/distance.h`` + +- ``geometric_shapes/shape_operations.h`` + +- ``geometric_shapes/shapes.h`` + +- ``kdl/frames.hpp`` + +- ``kdl_parser/kdl_parser.hpp`` + +- ``limits`` + +- ``list`` + +- ``map`` + +- ``memory`` + +- ``moveit/collision_detection/collision_matrix.h`` + +- ``moveit/robot_model/robot_model.h`` + +- ``moveit_msgs/PlanningSceneWorld.h`` + +- ``srdfdom_advr/model.h`` + +- ``string`` + +- ``urdf/model.h`` + +- ``utility`` + + + + + + +Classes +------- + + +- :ref:`exhale_class_classComputeLinksDistance` + +- :ref:`exhale_class_classComputeLinksDistance_1_1LinksPair` + + +Functions +--------- + + +- :ref:`exhale_function_collision__utils_8h_1abfb8e17c7aeeccc23c4337c7b500dd68` + +- :ref:`exhale_function_collision__utils_8h_1a3fac393c6019835e39854c157c781dac` + +- :ref:`exhale_function_collision__utils_8h_1a7c6a03d0eba1d42095a9bfe884ee4158` + diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h.rst.txt index 33719fbe..783d2ad0 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h.rst.txt @@ -30,6 +30,8 @@ Includes -------- +- ``XBotInterface/ModelInterface.h`` + - ``kdl/frames.hpp`` - ``pcl/ModelCoefficients.h`` @@ -48,10 +50,6 @@ Includes - ``pcl/surface/concave_hull.h`` -- ``pcl/surface/convex_hull.h`` - -- ``xbot2_interface/xbotinterface2.h`` - Included By diff --git a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_variables_Torque.h.rst.txt b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_variables_Torque.h.rst.txt index 708aa76d..3c33f4da 100644 --- a/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_variables_Torque.h.rst.txt +++ b/_sources/api/file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_variables_Torque.h.rst.txt @@ -32,9 +32,9 @@ Includes - ``OpenSoT/utils/Affine.h`` (:ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Affine.h`) -- ``xbot2_interface/common/utils.h`` +- ``XBotInterface/ModelInterface.h`` -- ``xbot2_interface/xbotinterface2.h`` +- ``XBotInterface/Utils.h`` diff --git a/_sources/api/function_collision__utils_8h_1a3fac393c6019835e39854c157c781dac.rst.txt b/_sources/api/function_collision__utils_8h_1a3fac393c6019835e39854c157c781dac.rst.txt new file mode 100644 index 00000000..0b0b9248 --- /dev/null +++ b/_sources/api/function_collision__utils_8h_1a3fac393c6019835e39854c157c781dac.rst.txt @@ -0,0 +1,14 @@ +.. _exhale_function_collision__utils_8h_1a3fac393c6019835e39854c157c781dac: + +Function toKdl(urdf::Vector3) +============================= + +- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h` + + +Function Documentation +---------------------- + + +.. doxygenfunction:: toKdl(urdf::Vector3) + :project: OpenSoT \ No newline at end of file diff --git a/_sources/api/function_collision__utils_8h_1a7c6a03d0eba1d42095a9bfe884ee4158.rst.txt b/_sources/api/function_collision__utils_8h_1a7c6a03d0eba1d42095a9bfe884ee4158.rst.txt new file mode 100644 index 00000000..0594b46a --- /dev/null +++ b/_sources/api/function_collision__utils_8h_1a7c6a03d0eba1d42095a9bfe884ee4158.rst.txt @@ -0,0 +1,14 @@ +.. _exhale_function_collision__utils_8h_1a7c6a03d0eba1d42095a9bfe884ee4158: + +Function toKdl(urdf::Pose) +========================== + +- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h` + + +Function Documentation +---------------------- + + +.. doxygenfunction:: toKdl(urdf::Pose) + :project: OpenSoT \ No newline at end of file diff --git a/_sources/api/function_collision__utils_8h_1abfb8e17c7aeeccc23c4337c7b500dd68.rst.txt b/_sources/api/function_collision__utils_8h_1abfb8e17c7aeeccc23c4337c7b500dd68.rst.txt new file mode 100644 index 00000000..bfcd6a2d --- /dev/null +++ b/_sources/api/function_collision__utils_8h_1abfb8e17c7aeeccc23c4337c7b500dd68.rst.txt @@ -0,0 +1,14 @@ +.. _exhale_function_collision__utils_8h_1abfb8e17c7aeeccc23c4337c7b500dd68: + +Function toKdl(urdf::Rotation) +============================== + +- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h` + + +Function Documentation +---------------------- + + +.. doxygenfunction:: toKdl(urdf::Rotation) + :project: OpenSoT \ No newline at end of file diff --git a/_sources/api/function_namespaceOpenSoT_1ae09fdd160f5f703ffc121938239120b0.rst.txt b/_sources/api/function_namespaceOpenSoT_1ab7b31c5b7546ce935b8c9beddf86b96c.rst.txt similarity index 83% rename from _sources/api/function_namespaceOpenSoT_1ae09fdd160f5f703ffc121938239120b0.rst.txt rename to _sources/api/function_namespaceOpenSoT_1ab7b31c5b7546ce935b8c9beddf86b96c.rst.txt index 2b03afcf..7736e643 100644 --- a/_sources/api/function_namespaceOpenSoT_1ae09fdd160f5f703ffc121938239120b0.rst.txt +++ b/_sources/api/function_namespaceOpenSoT_1ab7b31c5b7546ce935b8c9beddf86b96c.rst.txt @@ -1,4 +1,4 @@ -.. _exhale_function_namespaceOpenSoT_1ae09fdd160f5f703ffc121938239120b0: +.. _exhale_function_namespaceOpenSoT_1ab7b31c5b7546ce935b8c9beddf86b96c: Function OpenSoT::operator<<(std::ostream&, const AffineHelper&) ================================================================ diff --git a/_sources/api/function_namespaceXBot_1a07bcba42cd627cfb1e3337ef5a350a8f.rst.txt b/_sources/api/function_namespaceXBot_1a07bcba42cd627cfb1e3337ef5a350a8f.rst.txt deleted file mode 100644 index a98caae2..00000000 --- a/_sources/api/function_namespaceXBot_1a07bcba42cd627cfb1e3337ef5a350a8f.rst.txt +++ /dev/null @@ -1,14 +0,0 @@ -.. _exhale_function_namespaceXBot_1a07bcba42cd627cfb1e3337ef5a350a8f: - -Function XBot::bold_on -====================== - -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp` - - -Function Documentation ----------------------- - - -.. doxygenfunction:: XBot::bold_on(std::ostream&) - :project: OpenSoT \ No newline at end of file diff --git a/_sources/api/function_namespaceXBot_1a48c441328a4d646780b2e33eee5ab936.rst.txt b/_sources/api/function_namespaceXBot_1a48c441328a4d646780b2e33eee5ab936.rst.txt deleted file mode 100644 index a0baa730..00000000 --- a/_sources/api/function_namespaceXBot_1a48c441328a4d646780b2e33eee5ab936.rst.txt +++ /dev/null @@ -1,14 +0,0 @@ -.. _exhale_function_namespaceXBot_1a48c441328a4d646780b2e33eee5ab936: - -Function XBot::bold_off -======================= - -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp` - - -Function Documentation ----------------------- - - -.. doxygenfunction:: XBot::bold_off(std::ostream&) - :project: OpenSoT \ No newline at end of file diff --git a/_sources/api/function_namespaceXBot_1a83cb02e7d7c3150488296268f1b523af.rst.txt b/_sources/api/function_namespaceXBot_1a83cb02e7d7c3150488296268f1b523af.rst.txt deleted file mode 100644 index 305295cb..00000000 --- a/_sources/api/function_namespaceXBot_1a83cb02e7d7c3150488296268f1b523af.rst.txt +++ /dev/null @@ -1,14 +0,0 @@ -.. _exhale_function_namespaceXBot_1a83cb02e7d7c3150488296268f1b523af: - -Function XBot::color_yellow -=========================== - -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp` - - -Function Documentation ----------------------- - - -.. doxygenfunction:: XBot::color_yellow(std::ostream&) - :project: OpenSoT \ No newline at end of file diff --git a/_sources/api/function_namespaceXBot_1ac7bbba8dd44d9db1c57cdef84dc53ae1.rst.txt b/_sources/api/function_namespaceXBot_1ac7bbba8dd44d9db1c57cdef84dc53ae1.rst.txt deleted file mode 100644 index c3d8c9ef..00000000 --- a/_sources/api/function_namespaceXBot_1ac7bbba8dd44d9db1c57cdef84dc53ae1.rst.txt +++ /dev/null @@ -1,14 +0,0 @@ -.. _exhale_function_namespaceXBot_1ac7bbba8dd44d9db1c57cdef84dc53ae1: - -Function XBot::color_reset -========================== - -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp` - - -Function Documentation ----------------------- - - -.. doxygenfunction:: XBot::color_reset(std::ostream&) - :project: OpenSoT \ No newline at end of file diff --git a/_sources/api/function_namespaceXBot_1acea1dce92da0305fd3e8bbc43037ae11.rst.txt b/_sources/api/function_namespaceXBot_1acea1dce92da0305fd3e8bbc43037ae11.rst.txt deleted file mode 100644 index e1811b95..00000000 --- a/_sources/api/function_namespaceXBot_1acea1dce92da0305fd3e8bbc43037ae11.rst.txt +++ /dev/null @@ -1,14 +0,0 @@ -.. _exhale_function_namespaceXBot_1acea1dce92da0305fd3e8bbc43037ae11: - -Function XBot::color_red -======================== - -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp` - - -Function Documentation ----------------------- - - -.. doxygenfunction:: XBot::color_red(std::ostream&) - :project: OpenSoT \ No newline at end of file diff --git a/_sources/api/function_namespaceXBot_1aea17097f79c305452e9da88f24c0163e.rst.txt b/_sources/api/function_namespaceXBot_1aea17097f79c305452e9da88f24c0163e.rst.txt deleted file mode 100644 index 86a43d54..00000000 --- a/_sources/api/function_namespaceXBot_1aea17097f79c305452e9da88f24c0163e.rst.txt +++ /dev/null @@ -1,14 +0,0 @@ -.. _exhale_function_namespaceXBot_1aea17097f79c305452e9da88f24c0163e: - -Function XBot::color_green -========================== - -- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp` - - -Function Documentation ----------------------- - - -.. doxygenfunction:: XBot::color_green(std::ostream&) - :project: OpenSoT \ No newline at end of file diff --git a/_sources/api/namespace_@81.rst.txt b/_sources/api/namespace_@81.rst.txt deleted file mode 100644 index 929f9933..00000000 --- a/_sources/api/namespace_@81.rst.txt +++ /dev/null @@ -1,13 +0,0 @@ - -.. _namespace_@81: - -Namespace @81 -============= - - -.. contents:: Contents - :local: - :backlinks: none - - - diff --git a/_sources/api/namespace_OpenSoT.rst.txt b/_sources/api/namespace_OpenSoT.rst.txt index 99c9e8bf..603783cf 100644 --- a/_sources/api/namespace_OpenSoT.rst.txt +++ b/_sources/api/namespace_OpenSoT.rst.txt @@ -68,21 +68,17 @@ Functions --------- -- :ref:`exhale_function_namespaceOpenSoT_1a49d7bab96e0b74e7412c617a7d06a1c6` - - :ref:`exhale_function_namespaceOpenSoT_1a35f3ae25b8630915d1768f610ae80013` -- :ref:`exhale_function_namespaceOpenSoT_1aa4a98577a6a4beef8218ad4cad6bd987` - -- :ref:`exhale_function_namespaceOpenSoT_1a062f99e2d6db737dd7f13f156574a1d0` - -- :ref:`exhale_function_namespaceOpenSoT_1a2c5d7dd14b11e588a36c0eecb0ed6ed5` +- :ref:`exhale_function_namespaceOpenSoT_1a49d7bab96e0b74e7412c617a7d06a1c6` - :ref:`exhale_function_namespaceOpenSoT_1aa1ff64c5260ccbe2f64c4b126a85bb22` -- :ref:`exhale_function_namespaceOpenSoT_1a63100ab9d4e96ae9b685df8a15736e8b` +- :ref:`exhale_function_namespaceOpenSoT_1a062f99e2d6db737dd7f13f156574a1d0` -- :ref:`exhale_function_namespaceOpenSoT_1ad853184efb6bc4b883c811907360e04d` +- :ref:`exhale_function_namespaceOpenSoT_1aa4a98577a6a4beef8218ad4cad6bd987` + +- :ref:`exhale_function_namespaceOpenSoT_1a2c5d7dd14b11e588a36c0eecb0ed6ed5` - :ref:`exhale_function_namespaceOpenSoT_1a28dfa90c3909a4091eac86ddf0dba03b` @@ -92,13 +88,13 @@ Functions - :ref:`exhale_function_namespaceOpenSoT_1a5795e43e2896c1e1b1ad9a7ff10dddeb` -- :ref:`exhale_function_namespaceOpenSoT_1aa42aedbce3a796d28d2d2dc5426a2fbe` +- :ref:`exhale_function_namespaceOpenSoT_1a63100ab9d4e96ae9b685df8a15736e8b` -- :ref:`exhale_function_namespaceOpenSoT_1a9ea285f4bea5b924248306c73e63af0d` +- :ref:`exhale_function_namespaceOpenSoT_1ad853184efb6bc4b883c811907360e04d` -- :ref:`exhale_function_namespaceOpenSoT_1a9a9f6cea5ef3d3d8c3efdac6814fd29f` +- :ref:`exhale_function_namespaceOpenSoT_1aa42aedbce3a796d28d2d2dc5426a2fbe` -- :ref:`exhale_function_namespaceOpenSoT_1af94ac41af43695e55a0e7eef9563bd91` +- :ref:`exhale_function_namespaceOpenSoT_1a9ea285f4bea5b924248306c73e63af0d` - :ref:`exhale_function_namespaceOpenSoT_1a4c31d7dd8eccb05044007ba7448dd263` @@ -106,19 +102,23 @@ Functions - :ref:`exhale_function_namespaceOpenSoT_1ac8b11062807f3c28362a3ebec6966c48` +- :ref:`exhale_function_namespaceOpenSoT_1a9a9f6cea5ef3d3d8c3efdac6814fd29f` + +- :ref:`exhale_function_namespaceOpenSoT_1af94ac41af43695e55a0e7eef9563bd91` + - :ref:`exhale_function_namespaceOpenSoT_1ace43b0e0f96fed6c9d0d6c7f85f722bf` -- :ref:`exhale_function_namespaceOpenSoT_1a501cda32286c6a526b42ec3b2690eef2` +- :ref:`exhale_function_namespaceOpenSoT_1ab831211523cf9d0c5c9ec1d4968ef6a7` - :ref:`exhale_function_namespaceOpenSoT_1a61aa6ca24b3a5cdbdad8656907e80153` -- :ref:`exhale_function_namespaceOpenSoT_1a422e1a9b98b71861968d14a251c54083` +- :ref:`exhale_function_namespaceOpenSoT_1af8aa6bbf8c8362fe1372db8ae2099071` -- :ref:`exhale_function_namespaceOpenSoT_1ab831211523cf9d0c5c9ec1d4968ef6a7` +- :ref:`exhale_function_namespaceOpenSoT_1a422e1a9b98b71861968d14a251c54083` -- :ref:`exhale_function_namespaceOpenSoT_1ae09fdd160f5f703ffc121938239120b0` +- :ref:`exhale_function_namespaceOpenSoT_1a501cda32286c6a526b42ec3b2690eef2` -- :ref:`exhale_function_namespaceOpenSoT_1af8aa6bbf8c8362fe1372db8ae2099071` +- :ref:`exhale_function_namespaceOpenSoT_1ab7b31c5b7546ce935b8c9beddf86b96c` Typedefs diff --git a/_sources/api/namespace_OpenSoT__tasks.rst.txt b/_sources/api/namespace_OpenSoT__tasks.rst.txt index 2cac73df..0335753f 100644 --- a/_sources/api/namespace_OpenSoT__tasks.rst.txt +++ b/_sources/api/namespace_OpenSoT__tasks.rst.txt @@ -32,8 +32,6 @@ Classes - :ref:`exhale_class_classOpenSoT_1_1tasks_1_1Aggregated` -- :ref:`exhale_class_classOpenSoT_1_1tasks_1_1ConstraintToTask` - - :ref:`exhale_class_classOpenSoT_1_1tasks_1_1GenericLPTask` - :ref:`exhale_class_classOpenSoT_1_1tasks_1_1GenericTask` diff --git a/_sources/api/namespace_OpenSoT__tasks__velocity.rst.txt b/_sources/api/namespace_OpenSoT__tasks__velocity.rst.txt index 05a54920..02ad5668 100644 --- a/_sources/api/namespace_OpenSoT__tasks__velocity.rst.txt +++ b/_sources/api/namespace_OpenSoT__tasks__velocity.rst.txt @@ -23,8 +23,6 @@ Classes - :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1CartesianAdmittance` -- :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1CollisionAvoidance` - - :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1CoM` - :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1Contact` @@ -50,7 +48,3 @@ Classes - :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1PureRollingOrientation` - :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1PureRollingPosition` - -- :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilter` - -- :ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilterArray` diff --git a/_sources/api/namespace_OpenSoT__utils.rst.txt b/_sources/api/namespace_OpenSoT__utils.rst.txt index 8d697057..78701908 100644 --- a/_sources/api/namespace_OpenSoT__utils.rst.txt +++ b/_sources/api/namespace_OpenSoT__utils.rst.txt @@ -17,6 +17,8 @@ Classes ------- +- :ref:`exhale_class_classOpenSoT_1_1utils_1_1ForceOptimization` + - :ref:`exhale_class_classOpenSoT_1_1utils_1_1InverseDynamics` - :ref:`exhale_class_classOpenSoT_1_1utils_1_1MatrixPiler` diff --git a/_sources/api/namespace_XBot.rst.txt b/_sources/api/namespace_XBot.rst.txt deleted file mode 100644 index 064a9e4e..00000000 --- a/_sources/api/namespace_XBot.rst.txt +++ /dev/null @@ -1,48 +0,0 @@ - -.. _namespace_XBot: - -Namespace XBot -============== - - -.. contents:: Contents - :local: - :backlinks: none - - - - - -Namespaces ----------- - - -- :ref:`namespace_XBot__Utils` - - -Classes -------- - - -- :ref:`exhale_class_classXBot_1_1Endl` - -- :ref:`exhale_class_classXBot_1_1Logger` - -- :ref:`exhale_class_classXBot_1_1LoggerClass` - - -Functions ---------- - - -- :ref:`exhale_function_namespaceXBot_1a48c441328a4d646780b2e33eee5ab936` - -- :ref:`exhale_function_namespaceXBot_1a07bcba42cd627cfb1e3337ef5a350a8f` - -- :ref:`exhale_function_namespaceXBot_1aea17097f79c305452e9da88f24c0163e` - -- :ref:`exhale_function_namespaceXBot_1acea1dce92da0305fd3e8bbc43037ae11` - -- :ref:`exhale_function_namespaceXBot_1ac7bbba8dd44d9db1c57cdef84dc53ae1` - -- :ref:`exhale_function_namespaceXBot_1a83cb02e7d7c3150488296268f1b523af` diff --git a/_sources/api/namespace_fcl.rst.txt b/_sources/api/namespace_fcl.rst.txt new file mode 100644 index 00000000..dbc16991 --- /dev/null +++ b/_sources/api/namespace_fcl.rst.txt @@ -0,0 +1,27 @@ + +.. _namespace_fcl: + +Namespace fcl +============= + + +.. contents:: Contents + :local: + :backlinks: none + + + + + +Classes +------- + + +- :ref:`exhale_class_classfcl_1_1CollisionObject` + + +Typedefs +-------- + + +- :ref:`exhale_typedef_namespacefcl_1ad8615572c5e4ddaf74ecafd812f6798d` diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h.rst.txt index 3456c844..bb5898f3 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h.rst.txt @@ -33,7 +33,7 @@ Program Listing for File Constraint.h #include #include #include - #include + #include #include @@ -104,7 +104,7 @@ Program Listing for File Constraint.h std::string getConstraintID(){ return _constraint_id; } - virtual void update() {} + virtual void update(const Vector_type& x) {} virtual void log(XBot::MatLogger2::Ptr logger) { diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubConstraint.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubConstraint.h.rst.txt index 8521ecab..9d101350 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubConstraint.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubConstraint.h.rst.txt @@ -51,7 +51,7 @@ Program Listing for File SubConstraint.h virtual ~SubConstraint(){} - virtual void update(); + virtual void update(const Eigen::VectorXd& x); protected: Indices _subConstraintMap; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h.rst.txt index de72daf7..ae0e3da6 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h.rst.txt @@ -62,7 +62,7 @@ Program Listing for File SubTask.h void generateWeight(); - virtual void _update(); + virtual void _update(const Eigen::VectorXd &x); static const std::string _SUBTASK_SEPARATION_; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h.rst.txt index acd3eba0..8fff97fe 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h.rst.txt @@ -36,8 +36,8 @@ Program Listing for File Task.h #include #include #include - #include - #include + #include + #include namespace OpenSoT { @@ -83,7 +83,7 @@ Program Listing for File Task.h std::vector _active_joints_mask; - virtual void _update() = 0; + virtual void _update(const Vector_type &x) = 0; struct istrue //predicate { @@ -225,12 +225,12 @@ Program Listing for File Task.h virtual const unsigned int getTaskSize() const { return _A.rows(); } - void update() { + void update(const Vector_type &x) { for(typename std::list< ConstraintPtr >::iterator i = this->getConstraints().begin(); - i != this->getConstraints().end(); ++i) (*i)->update(); - this->_update(); + i != this->getConstraints().end(); ++i) (*i)->update(x); + this->_update(x); if(!_is_active){ _A_last_active = _A; @@ -268,6 +268,23 @@ Program Listing for File Task.h } return false; } + + virtual bool setActiveChainsMask(const std::vector& active_chain_mask, + XBot::ModelInterface::ConstPtr model) + { + _active_joints_mask.assign(_active_joints_mask.size(), false); + + for(const auto& ch : active_chain_mask){ + + for(const auto& jid : model->chain(ch).getJointIds()) + { + _active_joints_mask[ model->getDofIndex(jid) ] = true; + } + } + + return true; + + } virtual void log(XBot::MatLogger2::Ptr logger) { diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_Aggregated.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_Aggregated.h.rst.txt index b0b2c15b..6d743747 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_Aggregated.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_Aggregated.h.rst.txt @@ -108,6 +108,11 @@ Program Listing for File Aggregated.h virtual void _log(XBot::MatLogger2::Ptr logger); public: + Aggregated(const std::list< ConstraintPtr > constraints, + const Eigen::VectorXd &q, + const unsigned int aggregationPolicy = + EQUALITIES_TO_INEQUALITIES | + UNILATERAL_TO_BILATERAL); Aggregated(const std::list constraints, const unsigned int x_size, @@ -122,7 +127,7 @@ Program Listing for File Aggregated.h EQUALITIES_TO_INEQUALITIES | UNILATERAL_TO_BILATERAL); - void update(); + void update(const Eigen::VectorXd &x); void log(XBot::MatLogger2::Ptr logger) override; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h.rst.txt index 738e5660..095a5517 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h.rst.txt @@ -33,7 +33,7 @@ Program Listing for File GenericConstraint.h #include #include - #include + #include namespace OpenSoT { namespace constraints { @@ -67,7 +67,7 @@ Program Listing for File GenericConstraint.h bool setBounds(const Eigen::VectorXd& upper_bound, const Eigen::VectorXd& lower_bound); - virtual void update(); + virtual void update(const Eigen::VectorXd& x); Type getType(){return _type;} diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h.rst.txt index ccd3e62e..67cc81f5 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h.rst.txt @@ -58,7 +58,7 @@ Program Listing for File TaskToConstraint.h const Eigen::VectorXd& err_lb, const Eigen::VectorXd& err_ub); - void update(); + void update(const Eigen::VectorXd &q); protected: diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimits.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimits.h.rst.txt index 0e678bec..9061765d 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimits.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimits.h.rst.txt @@ -60,8 +60,6 @@ Program Listing for File JointLimits.h GenericConstraint::Ptr _generic_constraint_internal; - Eigen::VectorXd _zeros; - double _dt; double _p; @@ -75,7 +73,7 @@ Program Listing for File JointLimits.h const double dt); - void update(); + void update(const Eigen::VectorXd& x); void setJointAccMax(const Eigen::VectorXd& jointAccMax); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsECBF.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsECBF.h.rst.txt index cee10db0..1b377af3 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsECBF.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsECBF.h.rst.txt @@ -70,7 +70,7 @@ Program Listing for File JointLimitsECBF.h const Eigen::VectorXd &jointVelMax, const Eigen::VectorXd &jointAccMax); - void update(); + void update(const Eigen::VectorXd& x); void setAlpha1(const Eigen::VectorXd& a1); void setAlpha1(const double a1); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsViability.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsViability.h.rst.txt index f22ae114..179ebfee 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsViability.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsViability.h.rst.txt @@ -57,8 +57,6 @@ Program Listing for File JointLimitsViability.h GenericConstraint::Ptr _generic_constraint_internal; - Eigen::VectorXd _zeros; - double _dt; double _p; @@ -87,7 +85,7 @@ Program Listing for File JointLimitsViability.h const double dt); - void update(); + void update(const Eigen::VectorXd& x); void setJointAccMax(const Eigen::VectorXd& jointAccMax); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_TorqueLimits.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_TorqueLimits.h.rst.txt index 90eaff2a..9b99dc40 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_TorqueLimits.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_TorqueLimits.h.rst.txt @@ -15,7 +15,7 @@ Program Listing for File TorqueLimits.h #include #include - #include + #include #include namespace OpenSoT { namespace constraints { namespace acceleration { @@ -29,7 +29,7 @@ Program Listing for File TorqueLimits.h const std::vector& contact_links, const Eigen::VectorXd& torque_limits); - void update(); + void update(const Eigen::VectorXd& x); void setTorqueLimits(const Eigen::VectorXd& torque_limits); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_VelocityLimits.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_VelocityLimits.h.rst.txt index 6346888f..cd1b925a 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_VelocityLimits.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_VelocityLimits.h.rst.txt @@ -15,7 +15,7 @@ Program Listing for File VelocityLimits.h #include #include - #include + #include #include namespace OpenSoT { namespace constraints { namespace acceleration { @@ -36,7 +36,7 @@ Program Listing for File VelocityLimits.h const Eigen::VectorXd& qDotLimit, const double dT); - virtual void update(); + virtual void update(const Eigen::VectorXd& x); void setVelocityLimits(const double qDotLimit); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h.rst.txt index 4f33054d..0a5eaf80 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File CoP.h #define _CONSTRAINT_FORCE_COP_H_ #include - #include + #include #include #include #include @@ -53,11 +53,9 @@ Program Listing for File CoP.h const Eigen::Vector2d& X_Lims, const Eigen::Vector2d& Y_Lims); - virtual void update(); - - private: + virtual void update(const Eigen::VectorXd& x); std::string _contact_link; @@ -89,7 +87,9 @@ Program Listing for File CoP.h const std::vector& X_Lims, const std::vector& Y_Lims); - void update(); + CoP::Ptr getCoP(const std::string& contact_name); + + void update(const Eigen::VectorXd &x); private: diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h.rst.txt index e04d8301..e72ea119 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h.rst.txt @@ -32,7 +32,7 @@ Program Listing for File FrictionCone.h #include - #include + #include #include #include #include @@ -73,7 +73,7 @@ Program Listing for File FrictionCone.h const friction_cone & mu); - void update(); + void update(const Eigen::VectorXd &x); void setFrictionCone(const friction_cone& frc); @@ -99,7 +99,7 @@ Program Listing for File FrictionCone.h FrictionCone::Ptr getFrictionCone(const std::string& contact_name); - void update(); + void update(const Eigen::VectorXd &x); private: std::map _friction_cone_map; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h.rst.txt index e4e3d60a..a4de71b4 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File NormalTorque.h #define _CONSTRAINT_NORMAL_TORQUE_LIMITS_H_ #include - #include + #include #include #include #include @@ -53,7 +53,7 @@ Program Listing for File NormalTorque.h const Eigen::Vector2d& Y_Lims, const double& mu); - void update(); + void update(const Eigen::VectorXd &x); void setMu(const double mu); @@ -94,7 +94,7 @@ Program Listing for File NormalTorque.h NormalTorque::Ptr getNormalTorque(const std::string& contact_name); - void update(); + void update(const Eigen::VectorXd &x); private: std::map _normal_torque_map; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_StaticConstraint.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_StaticConstraint.h.rst.txt index ff78ac4f..cb4b70ba 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_StaticConstraint.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_StaticConstraint.h.rst.txt @@ -13,7 +13,7 @@ Program Listing for File StaticConstraint.h #include #include - #include + #include namespace OpenSoT { namespace constraints { namespace force { @@ -29,7 +29,7 @@ Program Listing for File StaticConstraint.h private: - void update() override; + void update(const Eigen::VectorXd& x) override; const XBot::ModelInterface& _robot; std::vector _contact_links; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_WrenchLimits.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_WrenchLimits.h.rst.txt index 27c1f97b..9c5cca38 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_WrenchLimits.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_WrenchLimits.h.rst.txt @@ -59,7 +59,7 @@ Program Listing for File WrenchLimits.h const Eigen::VectorXd& upperLims, AffineHelper wrench); - void getWrenchLimits(Eigen::VectorXd& lowerLims, Eigen::VectorXd& upperLims) const; + void getWrenchLimits(Eigen::VectorXd& lowerLims, Eigen::VectorXd& upperLims); void setWrenchLimits(const Eigen::VectorXd& lowerLims, const Eigen::VectorXd& upperLims); @@ -91,7 +91,7 @@ Program Listing for File WrenchLimits.h WrenchLimits::Ptr getWrenchLimits(const std::string& contact_name); - void update(); + void update(const Eigen::VectorXd &x); private: std::map _wrench_lims_constraints; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianPositionConstraint.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianPositionConstraint.h.rst.txt index 2e4ab602..67e15ace 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianPositionConstraint.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianPositionConstraint.h.rst.txt @@ -65,7 +65,7 @@ Program Listing for File CartesianPositionConstraint.h const Eigen::VectorXd& b_Cartesian, const double boundScaling = 1.0); - void update(); + void update(const Eigen::VectorXd &x); void getCurrentPosition(Eigen::VectorXd& current_position); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianVelocity.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianVelocity.h.rst.txt index b8b8aa2e..d38f1869 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianVelocity.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianVelocity.h.rst.txt @@ -61,7 +61,7 @@ Program Listing for File CartesianVelocity.h const double dT, const OpenSoT::tasks::velocity::CoM::Ptr& task); - virtual void update(); + virtual void update(const Eigen::VectorXd &x); const Eigen::VectorXd& getVelocityLimits() const; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.rst.txt index 42ac3584..be7985e8 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.rst.txt @@ -32,14 +32,25 @@ Program Listing for File CollisionAvoidance.h #include #include - #include - #include + #include #include #include #include + class ComputeLinksDistance; + class LinkPairDistance; + + // forward declare fcl collision object + namespace fcl + { + template + class CollisionObject; + + using CollisionObjectd = CollisionObject; + } + namespace OpenSoT { namespace constraints { namespace velocity { class CollisionAvoidance: public Constraint @@ -49,70 +60,49 @@ Program Listing for File CollisionAvoidance.h typedef std::shared_ptr Ptr; typedef std::pair LinksPair; - typedef XBot::Collision::CollisionModel::WitnessPointVector WitnessPointVector; - typedef XBot::Collision::CollisionModel::LinkPairVector LinkPairVector; - CollisionAvoidance(const XBot::ModelInterface& robot, - int max_pairs = -1, - urdf::ModelConstSharedPtr collision_urdf = nullptr, - srdf::ModelConstSharedPtr collision_srdf = nullptr); + CollisionAvoidance(const Eigen::VectorXd& x, + const XBot::ModelInterface& robot, + int max_pairs = -1, + urdf::ModelConstSharedPtr collision_urdf = nullptr, + srdf::ModelConstSharedPtr collision_srdf = nullptr); double getLinkPairThreshold(); - void getError(Eigen::VectorXd& e); - double getDetectionThreshold(); void setLinkPairThreshold(const double linkPair_threshold); void setDetectionThreshold(const double detection_threshold); - void update(); - - - void setMaxPairs(const unsigned int max_pairs); + void update(const Eigen::VectorXd &x); - void setCollisionList(std::set> collisionList); + bool setCollisionWhiteList(std::list whiteList); + bool setCollisionBlackList(std::list blackList); - void collisionModelUpdated(); + bool setWorldCollisions(const moveit_msgs::PlanningSceneWorld& wc); - bool addCollisionShape(const std::string& name, - const std::string& link, - const XBot::Collision::Shape::Variant& shape, - const Eigen::Affine3d& link_T_shape, - const std::vector& disabled_collisions = {}); + bool addWorldCollision(const std::string& id, + std::shared_ptr fcl_obj); - // /** - // * @brief remove world collision with given id - // */ - // bool removeWorldCollision(const std::string& id); + bool removeWorldCollision(const std::string& id); - bool moveCollisionShape(const std::string& id, const Eigen::Affine3d& new_pose); + bool moveWorldCollision(const std::string& id, + KDL::Frame new_pose); void setBoundScaling(const double boundScaling); - void setLinksVsEnvironment(const std::set& links); + void setLinksVsEnvironment(const std::list& links); - XBot::Collision::CollisionModel& getCollisionModel(); - const XBot::Collision::CollisionModel& getCollisionModel() const; - - void getOrderedWitnessPointVector(WitnessPointVector& wp) const; - - void getOrderedLinkPairVector(LinkPairVector& lp) const; - - void getOrderedDistanceVector(std::vector& d) const; - - const Eigen::MatrixXd& getCollisionJacobian() const; + const std::list& getLinkPairDistances(){ return _distance_list;} ~CollisionAvoidance(); protected: - bool _include_env; - double _bound_scaling; double _distance_threshold; @@ -123,18 +113,14 @@ Program Listing for File CollisionAvoidance.h const XBot::ModelInterface& _robot; - XBot::ModelInterface::Ptr _collision_model; - - std::unique_ptr _dist_calc; + std::unique_ptr _dist_calc; - Eigen::VectorXd _distances; - Eigen::MatrixXd _distance_J; - int _num_active_pairs; - mutable WitnessPointVector _wpv; - mutable LinkPairVector _lpv; + Eigen::VectorXd _x_cache; Eigen::MatrixXd _Jtmp; + std::list _distance_list; + }; } } } diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_ConvexHull.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_ConvexHull.h.rst.txt index 6e77f77c..efa2c712 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_ConvexHull.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_ConvexHull.h.rst.txt @@ -34,7 +34,7 @@ Program Listing for File ConvexHull.h #include #include #include - #include + #include #include #define BOUND_SCALING 0.01 @@ -54,30 +54,31 @@ Program Listing for File ConvexHull.h XBot::ModelInterface &_robot; double _boundScaling; std::shared_ptr _convex_hull; - std::vector _ch; + std::vector _ch; std::list _links_in_contact; Eigen::MatrixXd _JCoM; Eigen::MatrixXd _C; - std::list _points; - std::vector _tmp_ch; + std::list _points; + std::vector _tmp_ch; public: - ConvexHull( XBot::ModelInterface& robot, + ConvexHull( const Eigen::VectorXd& x, + XBot::ModelInterface& robot, const std::list& links_in_contact, const double safetyMargin = BOUND_SCALING); - static void getConstraints(const std::vector &points, + static void getConstraints(const std::vector &points, Eigen::MatrixXd& A, Eigen::VectorXd& b, const double boundScaling = BOUND_SCALING); - static void getLineCoefficients(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, + static void getLineCoefficients(const KDL::Vector &p0, const KDL::Vector &p1, double &a, double& b, double &c); - bool getConvexHull(std::vector& ch); + bool getConvexHull(std::vector& ch); void setSafetyMargin(const double safetyMargin); - void update(); + void update(const Eigen::VectorXd &x); std::list getLinksInContact() { diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimits.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimits.h.rst.txt index 59957808..4bc2a364 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimits.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimits.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File JointLimits.h #define __BOUNDS_VELOCITY_JOINTLIMITS_H__ #include - #include + #include namespace OpenSoT { @@ -41,18 +41,16 @@ Program Listing for File JointLimits.h public: typedef std::shared_ptr Ptr; private: - const XBot::ModelInterface& _robot; double _boundScaling; Eigen::VectorXd _jointLimitsMin; Eigen::VectorXd _jointLimitsMax; - Eigen::VectorXd _dq; public: - JointLimits(const XBot::ModelInterface& robot, + JointLimits(const Eigen::VectorXd &q, const Eigen::VectorXd &jointBoundMax, const Eigen::VectorXd &jointBoundMin, const double boundScaling = 1.0); - void update(); + void update(const Eigen::VectorXd &x); void setBoundScaling(const double boundScaling); }; } diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimitsInvariace.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimitsInvariace.h.rst.txt index 5bee96b8..6ddd91e2 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimitsInvariace.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimitsInvariace.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File JointLimitsInvariace.h #define __BOUNDS_VELOCITY_JOINTLIMITS_INVARIANCE_H__ #include - #include + #include #include namespace OpenSoT { @@ -45,16 +45,16 @@ Program Listing for File JointLimitsInvariace.h Eigen::VectorXd _jointLimitsMin; Eigen::VectorXd _jointLimitsMax; - Eigen::VectorXd _qdot_prev, _q, _zeros; + Eigen::VectorXd _qdot_prev; Eigen::VectorXd _jointAccMax; const XBot::ModelInterface& _robot; - double _lb, _ub, _acc_lim, _via_lim, _d; + double _lb, _ub, _acc_lim, _pos_lim, _via_lim, _d; int _ac_lb, _ac_ub; - Eigen::VectorXd _active_constraint_lb, _active_constraint_ub, _pos_lim_sup, _pos_lim_inf; + Eigen::VectorXd _active_constraint_lb, _active_constraint_ub; enum active_constraint { pos_lim = 1, @@ -74,14 +74,15 @@ Program Listing for File JointLimitsInvariace.h double _p; public: - JointLimitsInvariance(const Eigen::VectorXd &jointBoundMax, + JointLimitsInvariance(const Eigen::VectorXd &q, + const Eigen::VectorXd &jointBoundMax, const Eigen::VectorXd &jointBoundMin, const Eigen::VectorXd &jointAccMax, XBot::ModelInterface& robot, const double dt); - void update(); + void update(const Eigen::VectorXd& x); void setJointAccMax(const Eigen::VectorXd& jointAccMax); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_OmniWheels4X.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_OmniWheels4X.h.rst.txt index 72b6842d..0613388f 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_OmniWheels4X.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_OmniWheels4X.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File OmniWheels4X.h #define __BOUNDS_OMNIWHEEL4X_H__ #include - #include + #include namespace OpenSoT { namespace constraints { @@ -43,8 +43,9 @@ Program Listing for File OmniWheels4X.h OmniWheels4X(const double l1, const double l2, const double r, const std::vector joint_wheels_name, const std::string base_link, + const Eigen::VectorXd& x, XBot::ModelInterface& robot); - virtual void update(); + virtual void update(const Eigen::VectorXd &x); private: diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_VelocityLimits.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_VelocityLimits.h.rst.txt index 688e94c0..44a4e79f 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_VelocityLimits.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_VelocityLimits.h.rst.txt @@ -32,8 +32,6 @@ Program Listing for File VelocityLimits.h #include #include - #include - namespace OpenSoT { namespace constraints { @@ -45,12 +43,10 @@ Program Listing for File VelocityLimits.h double _qDotLimit; double _dT; public: - VelocityLimits(const XBot::ModelInterface& robot, - const double qDotLimit, - const double dT); - - VelocityLimits(const XBot::ModelInterface& robot, - const Eigen::VectorXd& qDotLimit, + VelocityLimits(const double qDotLimit, + const double dT, + const unsigned int x_size); + VelocityLimits(const Eigen::VectorXd& qDotLimit, const double dT); Eigen::VectorXd getVelocityLimits(); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEnd.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEnd.h.rst.txt index 1e1a9f94..3bc639ba 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEnd.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEnd.h.rst.txt @@ -14,7 +14,7 @@ Program Listing for File BackEnd.h #define _WB_SOT_SOLVERS_BACK_END_H_ #include - #include + #include #include #include diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_HCOD.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_HCOD.h.rst.txt index edaa7822..bf7775e1 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_HCOD.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_HCOD.h.rst.txt @@ -45,7 +45,7 @@ Program Listing for File HCOD.h void setDisableWeightsComputation(const bool disable); - bool getDisableWeightsComputation(); + bool setDisableWeightsComputation(); void setDamping(double damping); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_l1HQP.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_l1HQP.h.rst.txt index 01a5d727..38815a75 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_l1HQP.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_l1HQP.h.rst.txt @@ -39,7 +39,7 @@ Program Listing for File l1HQP.h priority_constraint(const std::string& id, const OpenSoT::tasks::GenericLPTask::Ptr high_priority_task, const OpenSoT::tasks::GenericLPTask::Ptr low_priority_task); - void update(); + void update(const Eigen::VectorXd& x); private: std::weak_ptr _high_task; std::weak_ptr _low_task; @@ -55,7 +55,7 @@ Program Listing for File l1HQP.h constraint_helper(std::string id, OpenSoT::constraints::Aggregated::ConstraintPtr constraints, const AffineHelper& x); - void update(); + void update(const Eigen::VectorXd& x); private: OpenSoT::constraints::Aggregated::ConstraintPtr _constraints; AffineHelper _constraint; @@ -75,7 +75,7 @@ Program Listing for File l1HQP.h task_to_constraint_helper(std::string id, OpenSoT::tasks::Aggregated::TaskPtr& task, const AffineHelper& x, const AffineHelper& t); - void update(); + void update(const Eigen::VectorXd& x); private: OpenSoT::tasks::Aggregated::TaskPtr& _task; AffineHelper _constraint; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h.rst.txt index 0d8c8494..0e14e9b5 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h.rst.txt @@ -89,10 +89,12 @@ Program Listing for File Aggregated.h Aggregated(TaskPtr task, const unsigned int x_size); + Aggregated(const std::list< TaskPtr > tasks, + const Eigen::VectorXd &q); ~Aggregated(); - void _update(); + void _update(const Eigen::VectorXd &x); std::list< ConstraintPtr >& getOwnConstraints() { return _ownConstraints; } diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h.rst.txt deleted file mode 100644 index 8e4456f4..00000000 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h.rst.txt +++ /dev/null @@ -1,39 +0,0 @@ - -.. _program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h: - -Program Listing for File ConstraintToTask.h -=========================================== - -|exhale_lsh| :ref:`Return to documentation for file ` (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/tasks/ConstraintToTask.h``) - -.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS - -.. code-block:: cpp - - #ifndef OPENSOT_CONSTRAINTTOTASK_H - #define OPENSOT_CONSTRAINTTOTASK_H - - #include - #include - - namespace OpenSoT { namespace tasks { - - class ConstraintToTask : public Task - { - - public: - - ConstraintToTask(ConstraintPtr constraint, - std::function ); - - void _update() override; - - private: - - ConstraintPtr _constr; - - }; - } } - - - #endif // CONSTRAINTTOTASK_H diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h.rst.txt index 8eeb5020..d2b7322b 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h.rst.txt @@ -16,7 +16,7 @@ Program Listing for File GenericLPTask.h #include #include #include - #include + #include namespace OpenSoT { namespace tasks { @@ -32,7 +32,7 @@ Program Listing for File GenericLPTask.h ~GenericLPTask(); - virtual void _update(); + virtual void _update(const Eigen::VectorXd &x); bool setc(const Eigen::VectorXd& c); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h.rst.txt index 1ee6448a..bbb63de0 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h.rst.txt @@ -15,7 +15,7 @@ Program Listing for File GenericTask.h #include #include - #include + #include namespace OpenSoT { namespace tasks { @@ -33,7 +33,7 @@ Program Listing for File GenericTask.h ~GenericTask(); - virtual void _update(); + virtual void _update(const Eigen::VectorXd &x); bool setA(const Eigen::MatrixXd& A); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h.rst.txt index 342eccf2..15d55454 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h.rst.txt @@ -33,7 +33,7 @@ Program Listing for File MinimizeVariable.h #include #include - #include + #include namespace OpenSoT { namespace tasks { @@ -49,7 +49,7 @@ Program Listing for File MinimizeVariable.h bool setReference(const Eigen::VectorXd& ref); - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); void getReference(Eigen::VectorXd& ref); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h.rst.txt index 5a845f03..35f05be6 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File AngularMomentum.h #define __TASKS_ACCELERATION_ANGULAR_MOMENTUM_H__ #include - #include + #include #include #include @@ -56,7 +56,7 @@ Program Listing for File AngularMomentum.h Eigen::MatrixXd _Mom; Eigen::Matrix3d _K; - void _update(); + void _update(const Eigen::VectorXd& x); std::string _base_link; std::string _distal_link; @@ -87,8 +87,6 @@ Program Listing for File AngularMomentum.h const std::string& getDistalLink() const; - bool reset(); - static bool isAngularMomentum(OpenSoT::Task::TaskPtr task); static OpenSoT::tasks::acceleration::AngularMomentum::Ptr asAngularMomentum(OpenSoT::Task::TaskPtr task); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Cartesian.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Cartesian.h.rst.txt index 5268e788..a4ed9aa3 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Cartesian.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Cartesian.h.rst.txt @@ -32,10 +32,10 @@ Program Listing for File Cartesian.h #include #include - #include - #include + #include + #include #include - #include + namespace OpenSoT { namespace tasks { namespace acceleration { @@ -46,6 +46,7 @@ Program Listing for File Cartesian.h typedef std::shared_ptr Ptr; Cartesian(const std::string task_id, + const Eigen::VectorXd& x, const XBot::ModelInterface& robot, const std::string& distal_link, const std::string& base_link @@ -85,20 +86,20 @@ Program Listing for File Cartesian.h void setVirtualForce(const Eigen::Vector6d& virtual_force_ref); - void getReference(Eigen::Affine3d& ref) const; - void getReference(KDL::Frame& ref) const; + void getReference(Eigen::Affine3d& ref); + void getReference(KDL::Frame& ref); void getReference(Eigen::Affine3d& desiredPose, - Eigen::Vector6d& desiredTwist) const; + Eigen::Vector6d& desiredTwist); void getReference(KDL::Frame& desiredPose, - KDL::Twist& desiredTwist) const; + KDL::Twist& desiredTwist); void getReference(Eigen::Affine3d& desiredPose, Eigen::Vector6d& desiredTwist, - Eigen::Vector6d& desiredAcceleration) const; + Eigen::Vector6d& desiredAcceleration); void getReference(KDL::Frame& desiredPose, KDL::Twist& desiredTwist, - KDL::Twist& desiredAcceleration) const; + KDL::Twist& desiredAcceleration); const Eigen::Vector6d& getCachedVelocityReference() const; @@ -106,16 +107,19 @@ Program Listing for File Cartesian.h const Eigen::Vector6d& getCachedVirtualForceReference() const; - const Eigen::Affine3d& getActualPose() const; - void getActualPose(Eigen::Affine3d& actual) const; + + void getActualPose(Eigen::Affine3d& actual); void getActualPose(KDL::Frame& actual); - const Eigen::Vector6d& getActualTwist() const; - void getActualTwist(Eigen::Vector6d& actual) const; + void getActualTwist(Eigen::Vector6d& actual); void getActualTwist(KDL::Twist& actual); bool reset(); + virtual void _update(const Eigen::VectorXd& x); + + virtual void _log(XBot::MatLogger2::Ptr logger); + void setLambda(double lambda1, double lambda2); virtual void setLambda(double lambda); @@ -194,10 +198,6 @@ Program Listing for File Cartesian.h Eigen::MatrixXd _tmpMatrixXd; Eigen::MatrixXd _Bi; - - virtual void _update(); - virtual void _log(XBot::MatLogger2::Ptr logger); - }; } } } diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_CoM.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_CoM.h.rst.txt index 6e78d5df..9827d70d 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_CoM.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_CoM.h.rst.txt @@ -32,8 +32,8 @@ Program Listing for File CoM.h #include #include - #include - #include + #include + #include namespace OpenSoT { namespace tasks { namespace acceleration { @@ -43,7 +43,7 @@ Program Listing for File CoM.h typedef std::shared_ptr Ptr; - CoM(const XBot::ModelInterface& robot); + CoM(const XBot::ModelInterface& robot, const Eigen::VectorXd& x); CoM(const XBot::ModelInterface& robot, const AffineHelper& qddot); @@ -58,16 +58,18 @@ Program Listing for File CoM.h const Eigen::Vector3d& vel_ref, const Eigen::Vector3d& acc_ref); - void getReference(Eigen::Vector3d& ref) const; - void getReference(Eigen::Vector3d& pos_ref, Eigen::Vector3d& vel_ref) const; - void getReference(Eigen::Vector3d& pos_ref, Eigen::Vector3d& vel_ref, Eigen::Vector3d& acc_ref) const; + void getReference(Eigen::Vector3d& ref); - void getActualPose(Eigen::Vector3d& actual) const; + void getActualPose(Eigen::Vector3d& actual); - void getPosError(Eigen::Vector3d& error) const; + void getPosError(Eigen::Vector3d& error); bool reset() override; + virtual void _update(const Eigen::VectorXd& x); + + virtual void _log(XBot::MatLogger2::Ptr logger); + void setLambda(double lambda1, double lambda2); virtual void setLambda(double lambda); @@ -109,11 +111,6 @@ Program Listing for File CoM.h void resetReference(); - virtual void _update(); - - virtual void _log(XBot::MatLogger2::Ptr logger); - - }; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Contact.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Contact.h.rst.txt index 2d178c2c..f9981ac2 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Contact.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Contact.h.rst.txt @@ -32,8 +32,8 @@ Program Listing for File Contact.h #include #include - #include - #include + #include + #include namespace OpenSoT { namespace tasks { namespace acceleration { @@ -47,6 +47,7 @@ Program Listing for File Contact.h Contact(const std::string& task_id, const XBot::ModelInterface& robot, const std::string& contact_link, + const Eigen::VectorXd& x, const Eigen::MatrixXd& contact_matrix = Eigen::MatrixXd() ); @@ -58,7 +59,7 @@ Program Listing for File Contact.h ); - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); virtual void _log(XBot::MatLogger2::Ptr logger); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_DynamicFeasibility.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_DynamicFeasibility.h.rst.txt index 57c682db..a6812d70 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_DynamicFeasibility.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_DynamicFeasibility.h.rst.txt @@ -15,7 +15,7 @@ Program Listing for File DynamicFeasibility.h #include #include - #include + #include namespace OpenSoT { namespace tasks { @@ -43,7 +43,7 @@ Program Listing for File DynamicFeasibility.h Eigen::VectorXd checkTask(const Eigen::VectorXd& x); private: - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); const XBot::ModelInterface& _robot; AffineHelper _qddot; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_MinJointVel.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_MinJointVel.h.rst.txt index 4f62efff..86dfab05 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_MinJointVel.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_MinJointVel.h.rst.txt @@ -38,7 +38,7 @@ Program Listing for File MinJointVel.h OpenSoT::tasks::acceleration::Postural::Ptr _postural; Eigen::MatrixXd I; - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); }; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Postural.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Postural.h.rst.txt index 74e974d5..3588169a 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Postural.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Postural.h.rst.txt @@ -33,7 +33,7 @@ Program Listing for File Postural.h #include #include - #include + #include #include namespace OpenSoT { namespace tasks { namespace acceleration { @@ -45,14 +45,16 @@ Program Listing for File Postural.h typedef std::shared_ptr Ptr; Postural(const XBot::ModelInterface& robot, - AffineHelper qddot, const std::string task_id = "Postural"); + AffineHelper qddot = AffineHelper(), const std::string task_id = "Postural"); Postural(const XBot::ModelInterface& robot, - const std::string task_id = "Postural"); + const int x_size, const std::string task_id = "Postural"); void setGainType(GainType type); GainType getGainType() const; + virtual void _update(const Eigen::VectorXd& x); + void setReference(const Eigen::VectorXd& qref); void setReference(const Eigen::VectorXd& qref, const Eigen::VectorXd& dqref); void setReference(const Eigen::VectorXd& qref, const Eigen::VectorXd& dqref, @@ -83,6 +85,8 @@ Program Listing for File Postural.h bool reset(); + virtual void _log(XBot::MatLogger2::Ptr logger); + const Eigen::VectorXd& getCachedVelocityReference() const; const Eigen::VectorXd& getCachedAccelerationReference() const; @@ -110,17 +114,13 @@ Program Listing for File Postural.h AffineHelper _postural_task; Eigen::VectorXd _qddot_d, _qddot_ref, _qref, _qdot, _q, _qdot_ref, _qdot_ref_cached, _qddot_ref_cached; + Eigen::MatrixXd _Jpostural; double _lambda2; Eigen::MatrixXd _Kp, _Kd; Eigen::MatrixXd _Mi; - - virtual void _update(); - virtual void _log(XBot::MatLogger2::Ptr logger); - - }; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_Contact.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_Contact.h.rst.txt index 3a8c280d..fa3d630e 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_Contact.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_Contact.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File Contact.h #define _OPENSOT_FLOATING_BASE_CONTACT_ESTIMATION_ #include - #include + #include namespace OpenSoT{ namespace tasks{ @@ -45,7 +45,7 @@ Program Listing for File Contact.h const Eigen::MatrixXd& contact_matrix = Eigen::MatrixXd::Identity(6,6), const Eigen::Affine3d& desired_contact_pose = Eigen::Affine3d::Identity() ); ~Contact(); - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); void setLinkInContact(const std::string link_in_contact); const std::string& getLinkInContact() const; @@ -53,7 +53,7 @@ Program Listing for File Contact.h private: std::string _link_in_contact; XBot::ModelInterface& _robot; - Eigen::MatrixXd _J, _Jrot; + Eigen::MatrixXd _J; Eigen::MatrixXd _Jcontact; Eigen::VectorXd _dqm; Eigen::MatrixXd _contact_matrix; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_IMU.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_IMU.h.rst.txt index ad24de91..bbca999e 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_IMU.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_IMU.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File IMU.h #define _OPENSOT_TASK_FLOATING_BASE_IMU_ #include - #include + #include namespace OpenSoT{ namespace tasks{ @@ -42,7 +42,7 @@ Program Listing for File IMU.h IMU(XBot::ModelInterface& robot, XBot::ImuSensor::ConstPtr imu); ~IMU(); - void _update(); + void _update(const Eigen::VectorXd& x); private: Eigen::MatrixXd _J; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Cartesian.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Cartesian.h.rst.txt index f19bb517..251e7cf5 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Cartesian.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Cartesian.h.rst.txt @@ -15,8 +15,8 @@ Program Listing for File Cartesian.h #include #include - #include - #include + #include + #include namespace OpenSoT { namespace tasks { namespace force { @@ -56,7 +56,7 @@ Program Listing for File Cartesian.h static const std::string world_name; - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); virtual void _log(XBot::MatLogger2::Ptr logger); const XBot::ModelInterface& _robot; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_CoM.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_CoM.h.rst.txt index df575c38..f281f988 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_CoM.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_CoM.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File CoM.h #define __TASKS_FORCE_COM_H__ #include - #include + #include #include #include @@ -52,6 +52,7 @@ Program Listing for File CoM.h virtual void _log(XBot::MatLogger2::Ptr logger); + AffineHelper _wrenches; AffineHelper _com_task; XBot::ModelInterface& _robot; @@ -98,7 +99,9 @@ Program Listing for File CoM.h Eigen::Vector3d velocityError; Eigen::Vector3d angularMomentumError; - + CoM(const Eigen::VectorXd& x, + std::vector& links_in_contact, + XBot::ModelInterface& robot); CoM(std::vector wrenches, @@ -107,7 +110,7 @@ Program Listing for File CoM.h ~CoM(); - void _update(); + void _update(const Eigen::VectorXd& x); void setLinearReference(const Eigen::Vector3d& desiredPosition); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_FloatingBase.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_FloatingBase.h.rst.txt index b2c7a456..70f9a1ca 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_FloatingBase.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_FloatingBase.h.rst.txt @@ -30,7 +30,7 @@ Program Listing for File FloatingBase.h #define __TASKS_FORCE_FB_H__ #include - #include + #include #include namespace OpenSoT { @@ -49,7 +49,7 @@ Program Listing for File FloatingBase.h void setEnabledContacts(const std::vector& enabled_contacts); private: - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); virtual void _log(XBot::MatLogger2::Ptr logger); std::vector _contact_links; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h.rst.txt index 4e692c57..857fc027 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h.rst.txt @@ -55,7 +55,7 @@ Program Listing for File Force.h const std::string& getDistalLink() const; const std::string& getBaseLink() const; protected: - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); private: std::string _distal_link, _base_link; OpenSoT::tasks::MinimizeVariable::Ptr _min_var; @@ -78,7 +78,7 @@ Program Listing for File Force.h private: std::map wrench_tasks; OpenSoT::tasks::Aggregated::Ptr _aggregated_task; - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); }; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h.rst.txt index 14a27b44..bf865bb5 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File AngularMomentum.h #define __TASKS_VELOCITY_ANGULAR_MOMENTUM_H__ #include - #include + #include #include #include @@ -53,13 +53,13 @@ Program Listing for File AngularMomentum.h Eigen::MatrixXd _Momentum; - void _update(); + void _update(const Eigen::VectorXd& x); std::string _base_link; std::string _distal_link; public: - AngularMomentum(XBot::ModelInterface& robot); + AngularMomentum(const Eigen::VectorXd& x, XBot::ModelInterface& robot); ~AngularMomentum(); void setReference(const Eigen::Vector3d& desiredAngularMomentum); @@ -67,7 +67,6 @@ Program Listing for File AngularMomentum.h void getReference(Eigen::Vector3d& desiredAngularMomentum) const; void getReference(KDL::Vector& desiredAngularMomentum) const; - const Eigen::Vector3d& getReference() const; const std::string& getBaseLink() const; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h.rst.txt index 1f949753..2d0c8306 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File Cartesian.h #define __TASKS_VELOCITY_CARTESIAN_H__ #include - #include + #include #include #include @@ -92,13 +92,14 @@ Program Listing for File Cartesian.h /****************************************/ Cartesian(std::string task_id, + const Eigen::VectorXd& x, XBot::ModelInterface &robot, const std::string& distal_link, const std::string& base_link); ~Cartesian(); - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); void setReference(const Eigen::Affine3d& desiredPose); void setReference(const Eigen::Matrix4d& desiredPose); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h.rst.txt index fdf5c615..165340cf 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h.rst.txt @@ -14,233 +14,18 @@ Program Listing for File CartesianAdmittance.h #define __TASKS_VELOCITY_CARTESIAN_ADMITTANCE_H__ #include - #include using namespace XBot::Utils; namespace OpenSoT { namespace tasks { namespace velocity { - template - class SecondOrderFilter { - - public: - - typedef std::shared_ptr> Ptr; - - SecondOrderFilter(): - _omega(1.0), - _eps(0.8), - _ts(0.01), - _reset_has_been_called(false) - { - computeCoeff(); - } - - SecondOrderFilter(double omega, double eps, double ts, const SignalType& initial_state): - _omega(omega), - _eps(eps), - _ts(ts), - _reset_has_been_called(false) - { - computeCoeff(); - reset(initial_state); - } - - void reset(const SignalType& initial_state){ - _reset_has_been_called = true; - _u = initial_state; - _y = initial_state; - _yd = initial_state; - _ydd = initial_state; - _udd = initial_state; - _ud = initial_state; - } - - const SignalType& process(const SignalType& input){ - - if(!_reset_has_been_called) reset(input*0); - - - _ydd = _yd; - _yd = _y; - _udd = _ud; - _ud = _u; - - - _u = input; - _y = 1.0/_a0 * ( _u + _b1*_ud + _b2*_udd - _a1*_yd - _a2*_ydd ); - - return _y; - } - - const SignalType& getOutput() const { - return _y; - } - - void setOmega(double omega){ - _omega = omega; - computeCoeff(); - } - - double getOmega() - { - return _omega; - } - - void setDamping(double eps){ - _eps = eps; - computeCoeff(); - } - - double getDamping() - { - return _eps; - } - - void setTimeStep(double ts){ - _ts = ts; - computeCoeff(); - } - - double getTimeStep() - { - return _ts; - } - - private: - - void computeCoeff() - { - _b1 = 2.0; - _b2 = 1.0; - - _a0 = 1.0 + 4.0*_eps/(_omega*_ts) + 4.0/std::pow(_omega*_ts, 2.0); - _a1 = 2 - 8.0/std::pow(_omega*_ts, 2.0); - _a2 = 1.0 + 4.0/std::pow(_omega*_ts, 2.0) - 4.0*_eps/(_omega*_ts); - - } - - double _omega; - double _eps; - double _ts; - - double _b1, _b2; - double _a0, _a1, _a2; - - bool _reset_has_been_called; - - SignalType _y, _yd, _ydd, _u, _ud, _udd; - - }; - - template - class SecondOrderFilterArray - { - public: - SecondOrderFilterArray(const int channels): - _channels(channels) - { - SecondOrderFilter filter; - SignalType tmp; - for(unsigned int i = 0; i < _channels; ++i){ - _filters.push_back(filter); - _output.push_back(tmp); - } - } - - const std::vector& process(const std::vector& input) - { - if(input.size() != _channels) - throw std::runtime_error("input size != filters size"); - - for(unsigned int i = 0; i < _channels; ++i){ - _filters[i].process(input[i]); - _output[i] = _filters[i].getOutput(); - } - return _output; - } - - const std::vector& getOutput() const { - return _output; - } - - void reset(const SignalType& init) - { - for(unsigned int i = 0; i < _channels; ++i){ - _filters[i].reset(init); - _output[i] = init; - } - } - - bool setTimeStep(const double time_step, const int channel) - { - if(channel >= _channels) - return false; - else - _filters[channel].setTimeStep(time_step); - return true; - } - - double getTimeStep(const int channel) - { - if(channel >= _channels) - throw std::runtime_error("channel out of channels range!"); - else - return _filters[channel].getTimeStep(); - } - - bool setDamping(const double damping, const int channel) - { - if(channel >= _channels) - return false; - else - _filters[channel].setDamping(damping); - return true; - } - - double getDamping(const int channel) - { - if(channel >= _channels) - throw std::runtime_error("channel out of channels range!"); - else - return _filters[channel].getDamping(); - } - - bool setOmega(const double omega, const int channel) - { - if(channel >= _channels) - return false; - else - _filters[channel].setOmega(omega); - return true; - } - - double getOmega(const int channel) - { - if(channel >= _channels) - throw std::runtime_error("channel out of channels range!"); - else - return _filters[channel].getOmega(); - } - - int getNumberOfChannels() - { - return _channels; - } - - private: - std::vector> _filters; - std::vector _output; - int _channels; - - }; - class CartesianAdmittance: public Cartesian { public: typedef std::shared_ptr Ptr; CartesianAdmittance(std::string task_id, + const Eigen::VectorXd& x, XBot::ModelInterface &robot, std::string base_link, XBot::ForceTorqueSensor::ConstPtr ft_sensor); @@ -307,9 +92,10 @@ Program Listing for File CartesianAdmittance.h Eigen::Vector6d _deadzone; std::vector _tmp; - void _update(); + void _update(const Eigen::VectorXd& x); - SecondOrderFilterArray _filter; + //XBot::Utils::SecondOrderFilter _filter; + XBot::Utils::SecondOrderFilterArray _filter; Eigen::Vector6d _C; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h.rst.txt index 55f62daa..c635d3ee 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File CoM.h #define __TASKS_VELOCITY_COM_H__ #include - #include + #include #include #include @@ -59,22 +59,18 @@ Program Listing for File CoM.h std::string _base_link; std::string _distal_link; - - protected: - virtual void _update(); - virtual void _log(XBot::MatLogger2::Ptr logger); - - public: - CoM(XBot::ModelInterface& robot, + CoM(const Eigen::VectorXd& x, + XBot::ModelInterface& robot, const std::string& id = "CoM" ); ~CoM(); + virtual void _update(const Eigen::VectorXd& x); virtual void setReference(const Eigen::Vector3d& desiredPosition); virtual void setReference(const KDL::Vector& desiredPosition); @@ -106,6 +102,8 @@ Program Listing for File CoM.h bool reset(); + virtual void _log(XBot::MatLogger2::Ptr logger); + static bool isCoM(OpenSoT::Task::TaskPtr task); static OpenSoT::tasks::velocity::CoM::Ptr asCoM(OpenSoT::Task::TaskPtr task); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h.rst.txt deleted file mode 100644 index 474f717e..00000000 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h.rst.txt +++ /dev/null @@ -1,43 +0,0 @@ - -.. _program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h: - -Program Listing for File CollisionAvoidance.h -============================================= - -|exhale_lsh| :ref:`Return to documentation for file ` (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/tasks/velocity/CollisionAvoidance.h``) - -.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS - -.. code-block:: cpp - - #ifndef OPENSOT_TASKS_COLLISIONAVOIDANCE_H - #define OPENSOT_TASKS_COLLISIONAVOIDANCE_H - - #include - #include - - namespace OpenSoT { namespace tasks { namespace velocity { - - class CollisionAvoidance : public Task - { - - public: - - CollisionAvoidance(constraints::velocity::CollisionAvoidance::Ptr constr); - - void _update() override; - - constraints::velocity::CollisionAvoidance::Ptr getConstraint(); - - - private: - - constraints::velocity::CollisionAvoidance::Ptr _constr; - - Eigen::VectorXd _error; - - }; - - } } } - - #endif // COLLISIONAVOIDANCE_H diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h.rst.txt index 9f41b8c3..8be3cb2f 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File Contact.h #define __TASKS_VELOCITY_CONTACT_H__ #include - #include + #include #include #define WORLD_FRAME_NAME "world" @@ -54,7 +54,7 @@ Program Listing for File Contact.h ~Contact(); - void _update(); + void _update(const Eigen::VectorXd& x); const std::string& getLinkName() const; @@ -78,7 +78,7 @@ Program Listing for File Contact.h Eigen::VectorXd _error; - Eigen::MatrixXd _K, _Jtmp, _Jrot; + Eigen::MatrixXd _K, _Jtmp; }; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Gaze.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Gaze.h.rst.txt index 21d7b957..bf2b8c24 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Gaze.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Gaze.h.rst.txt @@ -33,7 +33,7 @@ Program Listing for File Gaze.h #include #include #include - #include + #include namespace OpenSoT { namespace tasks { @@ -46,6 +46,7 @@ Program Listing for File Gaze.h typedef std::shared_ptr Ptr; Gaze(std::string task_id, + const Eigen::VectorXd &x, XBot::ModelInterface &robot, std::string base_link, std::string distal_link = "gaze"); @@ -67,6 +68,8 @@ Program Listing for File Gaze.h virtual const unsigned int getTaskSize() const; + virtual void _update(const Eigen::VectorXd &x); + virtual std::vector getActiveJointsMask(); virtual bool setActiveJointsMask(const std::vector& active_joints_mask); @@ -92,9 +95,6 @@ Program Listing for File Gaze.h Eigen::Affine3d _tmpEigenM; Eigen::Affine3d _tmpEigenM2; - virtual void _update(); - - }; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_JointAdmittance.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_JointAdmittance.h.rst.txt index 5d4b5e77..2575af0b 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_JointAdmittance.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_JointAdmittance.h.rst.txt @@ -18,124 +18,11 @@ Program Listing for File JointAdmittance.h namespace OpenSoT { namespace tasks { namespace velocity { - template - class SecondOrderFilter { - - public: - - typedef std::shared_ptr> Ptr; - - SecondOrderFilter(): - _omega(1.0), - _eps(0.8), - _ts(0.01), - _reset_has_been_called(false) - { - computeCoeff(); - } - - SecondOrderFilter(double omega, double eps, double ts, const SignalType& initial_state): - _omega(omega), - _eps(eps), - _ts(ts), - _reset_has_been_called(false) - { - computeCoeff(); - reset(initial_state); - } - - void reset(const SignalType& initial_state){ - _reset_has_been_called = true; - _u = initial_state; - _y = initial_state; - _yd = initial_state; - _ydd = initial_state; - _udd = initial_state; - _ud = initial_state; - } - - const SignalType& process(const SignalType& input){ - - if(!_reset_has_been_called) reset(input*0); - - - _ydd = _yd; - _yd = _y; - _udd = _ud; - _ud = _u; - - - _u = input; - _y = 1.0/_a0 * ( _u + _b1*_ud + _b2*_udd - _a1*_yd - _a2*_ydd ); - - return _y; - } - - const SignalType& getOutput() const { - return _y; - } - - void setOmega(double omega){ - _omega = omega; - computeCoeff(); - } - - double getOmega() - { - return _omega; - } - - void setDamping(double eps){ - _eps = eps; - computeCoeff(); - } - - double getDamping() - { - return _eps; - } - - void setTimeStep(double ts){ - _ts = ts; - computeCoeff(); - } - - double getTimeStep() - { - return _ts; - } - - private: - - void computeCoeff() - { - _b1 = 2.0; - _b2 = 1.0; - - _a0 = 1.0 + 4.0*_eps/(_omega*_ts) + 4.0/std::pow(_omega*_ts, 2.0); - _a1 = 2 - 8.0/std::pow(_omega*_ts, 2.0); - _a2 = 1.0 + 4.0/std::pow(_omega*_ts, 2.0) - 4.0*_eps/(_omega*_ts); - - } - - double _omega; - double _eps; - double _ts; - - double _b1, _b2; - double _a0, _a1, _a2; - - bool _reset_has_been_called; - - SignalType _y, _yd, _ydd, _u, _ud, _udd; - - }; - class JointAdmittance: public Postural { public: typedef std::shared_ptr Ptr; - JointAdmittance(XBot::ModelInterface &robot, XBot::ModelInterface &model); + JointAdmittance(XBot::ModelInterface &robot, XBot::ModelInterface &model, const Eigen::VectorXd& x); void setJointCompliance(const Eigen::MatrixXd& C); @@ -162,13 +49,13 @@ Program Listing for File JointAdmittance.h XBot::ModelInterface& _robot; XBot::ModelInterface& _model; - void _update(); + void _update(const Eigen::VectorXd& x); - SecondOrderFilter _filter; + XBot::Utils::SecondOrderFilter _filter; Eigen::MatrixXd _C; - Eigen::VectorXd _tau, _tau_filt, _h, _q, _tau_error, _qdot_desired; + Eigen::VectorXd _tau, _tau_filt, _h, _q, _tau_error; }; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_LinearMomentum.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_LinearMomentum.h.rst.txt index 247b672a..91ac93f4 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_LinearMomentum.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_LinearMomentum.h.rst.txt @@ -31,7 +31,7 @@ Program Listing for File LinearMomentum.h #define __TASKS_VELOCITY_LINEAR_MOMENTUM_H__ #include - #include + #include #include #include @@ -53,10 +53,10 @@ Program Listing for File LinearMomentum.h Eigen::MatrixXd _Momentum; - void _update(); + void _update(const Eigen::VectorXd& x); public: - LinearMomentum(XBot::ModelInterface& robot); + LinearMomentum(const Eigen::VectorXd& x, XBot::ModelInterface& robot); ~LinearMomentum(); void setReference(const Eigen::Vector3d& desiredLinearMomentum); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Manipulability.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Manipulability.h.rst.txt index 2e0f4238..89e90a15 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Manipulability.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Manipulability.h.rst.txt @@ -44,19 +44,20 @@ Program Listing for File Manipulability.h public: typedef std::shared_ptr Ptr; - Manipulability(const XBot::ModelInterface& robot_model, const Cartesian::Ptr CartesianTask, const double step = 1E-3); - Manipulability(const XBot::ModelInterface& robot_model, const CoM::Ptr CartesianTask, const double step = 1E-3); - + Manipulability(const Eigen::VectorXd& x, const XBot::ModelInterface& robot_model, const Cartesian::Ptr CartesianTask); + Manipulability(const Eigen::VectorXd& x, const XBot::ModelInterface& robot_model, const CoM::Ptr CartesianTask); ~Manipulability(); + void _update(const Eigen::VectorXd& x); + double ComputeManipulabilityIndex(); void setW(const Eigen::MatrixXd& W){ _manipulabilityIndexGradientWorker.setW(W); } - const Eigen::MatrixXd& getW() const{ + Eigen::MatrixXd getW(){ return _manipulabilityIndexGradientWorker.getW(); } @@ -64,15 +65,13 @@ Program Listing for File Manipulability.h { if(lambda >= 0.0){ _lambda = lambda; - this->_update(); + this->_update(_x); } } protected: - const XBot::ModelInterface& _model; - Eigen::VectorXd _q; - void _update(); + Eigen::VectorXd _x; class ComputeManipulabilityIndexGradient: public CostFunction{ public: @@ -82,53 +81,53 @@ Program Listing for File Manipulability.h Eigen::VectorXd _zeros; OpenSoT::Task::TaskPtr _CartesianTask; - ComputeManipulabilityIndexGradient(const XBot::ModelInterface& robot_model, + ComputeManipulabilityIndexGradient(const Eigen::VectorXd& q, const XBot::ModelInterface& robot_model, const Cartesian::Ptr CartesianTask) : - _robot(robot_model.clone()), + _robot(XBot::ModelInterface::getModel(robot_model.getConfigOptions())), _model(robot_model), - _W(_model.getNv(), _model.getNv()), - _zeros(_model.getNv()) + _W(q.rows(),q.rows()), + _zeros(q.rows()) { - _W.setIdentity(); + _W.setIdentity(_W.rows(), _W.cols()); - _zeros.setZero(); + _zeros.setZero(_zeros.rows()); _robot->syncFrom(_model); - _CartesianTask = Cartesian::Ptr(new Cartesian(CartesianTask->getTaskID(), - *_robot, CartesianTask->getDistalLink(), CartesianTask->getBaseLink())); + _CartesianTask = Cartesian::Ptr(new Cartesian(CartesianTask->getTaskID(), q, + *(_robot.get()), CartesianTask->getDistalLink(), CartesianTask->getBaseLink())); } - ComputeManipulabilityIndexGradient(const XBot::ModelInterface& robot_model, + ComputeManipulabilityIndexGradient(const Eigen::VectorXd& q, const XBot::ModelInterface& robot_model, const CoM::Ptr CartesianTask) : - _robot(robot_model.clone()), + _robot(XBot::ModelInterface::getModel(robot_model.getPathToConfig())), _model(robot_model), - _W(_model.getNv(), _model.getNv()), - _zeros(_model.getNv()) + _W(q.rows(),q.rows()), + _zeros(q.rows()) { - _W.setIdentity(); + _W.setIdentity(_W.rows(), _W.cols()); - _zeros.setZero(); + _zeros.setZero(_zeros.rows()); _robot->syncFrom(_model); - _CartesianTask = CoM::Ptr(new OpenSoT::tasks::velocity::CoM(*(_robot.get()))); + _CartesianTask = CoM::Ptr(new OpenSoT::tasks::velocity::CoM(q, *(_robot.get()))); } double compute(const Eigen::VectorXd &q) { _robot->setJointPosition(q); - _robot->update(); + _robot->update(true); - _CartesianTask->update(); + _CartesianTask->update(q); return computeManipulabilityIndex(); } void setW(const Eigen::MatrixXd& W) { _W = W; } - const Eigen::MatrixXd& getW() const {return _W;} + Eigen::MatrixXd& getW() {return _W;} double computeManipulabilityIndex() { @@ -138,10 +137,6 @@ Program Listing for File Manipulability.h } }; - double _step; - Eigen::VectorXd _gradient; - Eigen::VectorXd _deltas; - ComputeManipulabilityIndexGradient _manipulabilityIndexGradientWorker; }; } diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_MinimumEffort.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_MinimumEffort.h.rst.txt index d6f644d2..1a5180c1 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_MinimumEffort.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_MinimumEffort.h.rst.txt @@ -32,7 +32,7 @@ Program Listing for File MinimumEffort.h #define __TASKS_VELOCITY_MINIMUMEFFORT_H__ #include - #include + #include #include @@ -43,41 +43,52 @@ Program Listing for File MinimumEffort.h public: typedef std::shared_ptr Ptr; protected: - const XBot::ModelInterface& _model; - Eigen::VectorXd _q; - - void _update(); - + Eigen::VectorXd _x; class ComputeGTauGradient : public CostFunction { public: XBot::ModelInterface::Ptr _robot; const XBot::ModelInterface& _model; Eigen::MatrixXd _W; - Eigen::VectorXd _tau; + Eigen::VectorXd _zeros, _tau; Eigen::VectorXd _tau_lim; - ComputeGTauGradient(const XBot::ModelInterface& robot_model) : - _robot(robot_model.clone()), + ComputeGTauGradient(const Eigen::VectorXd& q, const XBot::ModelInterface& robot_model) : + _robot(XBot::ModelInterface::getModel(robot_model.getConfigOptions())), _model(robot_model), - _W(robot_model.getNv(), robot_model.getNv()) + _W(q.rows(),q.rows()), + _zeros(q.rows()) { - _W.setIdentity(); + _zeros.setZero(q.rows()); + _W.setIdentity(q.rows(),q.rows()); _robot->syncFrom(_model); _model.getEffortLimits(_tau_lim); - for(int i = 0; i < robot_model.getNv(); ++i){ + for(int i = 0; i < q.size(); ++i){ _W(i,i) = 1.0 / std::pow(_tau_lim(i), 2.0); } + // _robot.switchAnchor(_model.getAnchor()); + // _robot.setAnchor_T_World(_model.getAnchor_T_World()); } double compute(const Eigen::VectorXd &q) { + // if(_robot.getAnchor() != _model.getAnchor()) + // _robot.switchAnchor(_model.getAnchor()); + _robot->setJointPosition(q); _robot->update(); + // _robot.updateiDyn3Model(cartesian_utils::fromEigentoYarp(q), true); + + // if(_model.getAnchor_T_World() != _robot.getAnchor_T_World()) + // { + // assert("if q and anchor are the same, anchor_t_world should be the same!"); + // + // _robot.setAnchor_T_World(_model.getAnchor_T_World()); + // } _robot->computeGravityCompensation(_tau); return _tau.transpose()* _W * _tau; @@ -85,20 +96,19 @@ Program Listing for File MinimumEffort.h void setW(const Eigen::MatrixXd& W) { _W = W; } - const Eigen::MatrixXd& getW() const {return _W;} + const Eigen::MatrixXd& getW() {return _W;} }; ComputeGTauGradient _gTauGradientWorker; - double _step; - Eigen::VectorXd _gradient; - Eigen::VectorXd _deltas; public: - MinimumEffort(const XBot::ModelInterface& robot_model, const double step = 1E-3); + MinimumEffort(const Eigen::VectorXd& x, const XBot::ModelInterface& robot_model); ~MinimumEffort(); + void _update(const Eigen::VectorXd& x); + double computeEffort(); void setW(const Eigen::MatrixXd& W){ @@ -113,7 +123,7 @@ Program Listing for File MinimumEffort.h { if(lambda >= 0.0){ _lambda = lambda; - this->_update(); + this->_update(_x); } } }; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Postural.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Postural.h.rst.txt index 3f99148c..0fba11ef 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Postural.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Postural.h.rst.txt @@ -30,9 +30,11 @@ Program Listing for File Postural.h #ifndef __TASKS_VELOCITY_POSTURAL_H__ #define __TASKS_VELOCITY_POSTURAL_H__ - #include + #include + + #include + #include - #include namespace OpenSoT { namespace tasks { @@ -41,23 +43,19 @@ Program Listing for File Postural.h public: typedef std::shared_ptr Ptr; protected: - Eigen::VectorXd _q_desired; - Eigen::VectorXd _dq; - Eigen::VectorXd _v_desired, _v_desired_ref; - Eigen::VectorXd _q; - const XBot::ModelInterface& _robot; + Eigen::VectorXd _x_desired; + Eigen::VectorXd _xdot_desired, _xdot_desired_ref; + Eigen::VectorXd _x; void update_b(); - virtual void _log(XBot::MatLogger2::Ptr logger); public: - Postural(const XBot::ModelInterface& robot, - const std::string& task_id = "Postural"); + Postural(const Eigen::VectorXd& x, const std::string& task_id = "Postural"); ~Postural(); - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); void setReference(const Eigen::VectorXd& x_desired); @@ -73,12 +71,14 @@ Program Listing for File Postural.h void setLambda(double lambda); - const Eigen::VectorXd& getActualPositions() const; + Eigen::VectorXd getActualPositions(); - const Eigen::VectorXd& getError() const; + Eigen::VectorXd getError(); bool reset(); + virtual void _log(XBot::MatLogger2::Ptr logger); + static bool isPostural(OpenSoT::Task::TaskPtr task); static OpenSoT::tasks::velocity::Postural::Ptr asPostural(OpenSoT::Task::TaskPtr task); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_PureRolling.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_PureRolling.h.rst.txt index a2d15743..9a390914 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_PureRolling.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_PureRolling.h.rst.txt @@ -35,7 +35,7 @@ Program Listing for File PureRolling.h #define __OPENSOT_TASKS_VELOCITY_PURE_ROLLING_H__ #include - #include + #include #include namespace OpenSoT { namespace tasks { namespace velocity { @@ -50,7 +50,7 @@ Program Listing for File PureRolling.h double radius, const XBot::ModelInterface& model); - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); void setOutwardNormal(const Eigen::Vector3d& n); @@ -88,7 +88,7 @@ Program Listing for File PureRolling.h void setOutwardNormal(const Eigen::Vector3d& n); - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); virtual void _log(XBot::MatLogger2::Ptr logger); @@ -110,7 +110,7 @@ Program Listing for File PureRolling.h double radius, const XBot::ModelInterface& model); - virtual void _update(); + virtual void _update(const Eigen::VectorXd& x); private: diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AffineUtils.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AffineUtils.h.rst.txt index 4707ea93..05362f46 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AffineUtils.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AffineUtils.h.rst.txt @@ -33,7 +33,7 @@ Program Listing for File AffineUtils.h AffineTask(const OpenSoT::tasks::Aggregated::TaskPtr& task, const AffineHelper& var); - virtual void _update(); + virtual void _update(const Eigen::VectorXd &x); ~AffineTask(); static AffineTask::Ptr toAffine(const OpenSoT::tasks::Aggregated::TaskPtr& task, @@ -55,7 +55,7 @@ Program Listing for File AffineUtils.h AffineConstraint(const OpenSoT::constraints::Aggregated::ConstraintPtr& constraint, const AffineHelper& var); - virtual void update(); + virtual void update(const Eigen::VectorXd& x); ~AffineConstraint(); static AffineConstraint::Ptr toAffine(const OpenSoT::constraints::Aggregated::ConstraintPtr& constraint, diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h.rst.txt index 9a40394e..cce77364 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h.rst.txt @@ -35,7 +35,7 @@ Program Listing for File AutoStack.h #include #include #include - #include + #include #include #include @@ -43,20 +43,21 @@ Program Listing for File AutoStack.h class AutoStack { public: - typedef std::shared_ptr Ptr; + typedef std::shared_ptr Ptr; private: - OpenSoT::solvers::iHQP::Stack _stack; + OpenSoT::solvers::iHQP::Stack _stack; - OpenSoT::tasks::Aggregated::TaskPtr _regularisation_task; + OpenSoT::tasks::Aggregated::TaskPtr _regularisation_task; - OpenSoT::constraints::Aggregated::Ptr _boundsAggregated; + OpenSoT::constraints::Aggregated::Ptr _boundsAggregated; - std::vector flattenTask( - OpenSoT::solvers::iHQP::TaskPtr task); - public: + std::vector flattenTask( + OpenSoT::solvers::iHQP::TaskPtr task); - AutoStack(const int x_size); + protected: + AutoStack(const double x_size); + public: AutoStack(OpenSoT::tasks::Aggregated::TaskPtr task); AutoStack(OpenSoT::tasks::Aggregated::TaskPtr task, @@ -68,7 +69,10 @@ Program Listing for File AutoStack.h std::list bounds); - void update(); + /*AutoStack(OpenSoT::solvers::iHQP::Stack stack, + OpenSoT::constraints::Aggregated::ConstraintPtr bound);*/ + + void update(const Eigen::VectorXd & state); void log(XBot::MatLogger2::Ptr logger); diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h.rst.txt new file mode 100644 index 00000000..1c67f07b --- /dev/null +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h.rst.txt @@ -0,0 +1,80 @@ + +.. _program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h: + +Program Listing for File ForceOptimization.h +============================================ + +|exhale_lsh| :ref:`Return to documentation for file ` (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/ForceOptimization.h``) + +.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS + +.. code-block:: cpp + + #ifndef __QPPVM_FORCE_OPT_H__ + #define __QPPVM_FORCE_OPT_H__ + + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + + namespace OpenSoT { namespace utils { + + class ForceOptimization + { + + public: + + typedef std::shared_ptr Ptr; + + constexpr static double DEFAULT_FRICTION_COEFF = 0.5; + + ForceOptimization(XBot::ModelInterface::Ptr model, + std::vector contact_links, + bool optimize_torque = true, + double friction_coeff = DEFAULT_FRICTION_COEFF + ); + + bool compute(const Eigen::VectorXd& fixed_base_torque, + std::vector& Fc, + Eigen::VectorXd& tau + ); + + void setContactRotationMatrix(const std::string& contact_link, + const Eigen::Matrix3d& w_R_c); + + void log(XBot::MatLogger2::Ptr logger); + + double getObjective(); + + + private: + + XBot::ModelInterface::Ptr _model; + std::vector _contact_links; + std::vector< OpenSoT::AffineHelper > _wrenches; + + OpenSoT::constraints::force::FrictionCones::Ptr _friction_cone; + OpenSoT::tasks::force::FloatingBase::Ptr _forza_giusta; + OpenSoT::solvers::iHQP::Ptr _solver; + OpenSoT::AutoStack::Ptr _autostack; + + Eigen::VectorXd _x_value; + Eigen::MatrixXd _JC; + Eigen::VectorXd _fc_i; + Eigen::VectorXd _Fci; + + }; + + } } + + + + #endif diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h.rst.txt index edf8bdec..bb7a31d5 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h.rst.txt @@ -14,7 +14,7 @@ Program Listing for File InverseDynamics.h #define _OPENSOT_INVERSE_DYNAMICS_H_ #include - #include + #include #include namespace OpenSoT { diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h.rst.txt new file mode 100644 index 00000000..e92efd90 --- /dev/null +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h.rst.txt @@ -0,0 +1,49 @@ + +.. _program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h: + +Program Listing for File LinkPairDistance.h +=========================================== + +|exhale_lsh| :ref:`Return to documentation for file ` (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/LinkPairDistance.h``) + +.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS + +.. code-block:: cpp + + #ifndef OPENSOT_LINKPAIRDISTANCE_H_ + #define OPENSOT_LINKPAIRDISTANCE_H_ + + class LinkPairDistance + { + + public: + + typedef std::pair LinksPair; + + LinkPairDistance(const std::string& link1, + const std::string& link2, + const KDL::Frame& w_T_closestPoint1, + const KDL::Frame& w_T_closestPoint2, + const double& distance); + + bool isLink2WorldObject() const; + + const double& getDistance() const; + + const std::pair& getClosestPoints() const; + + const std::pair& getLinkNames() const; + + bool operator <(const LinkPairDistance& second) const; + + private: + LinksPair _link_pair; + + std::pair _closest_points; + + double distance; + + }; + + #endif // OPENSOT_LINKPAIRDISTANCE_H_ + diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h.rst.txt index b975a97c..78532418 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h.rst.txt @@ -14,7 +14,7 @@ Program Listing for File Piler.h #define _OPENSOT_UTILS_PILER_H_ #include - #include + #include using XBot::Logger; diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp.rst.txt deleted file mode 100644 index f68b936d..00000000 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp.rst.txt +++ /dev/null @@ -1,230 +0,0 @@ - -.. _program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp: - -Program Listing for File RtLog.hpp -================================== - -|exhale_lsh| :ref:`Return to documentation for file ` (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/RtLog.hpp``) - -.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS - -.. code-block:: cpp - - /* - * Copyright (C) 2017 IIT-ADVR - * Author: Arturo Laurenzi - * email: arturo.laurenzi@iit.it - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU Lesser General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public License - * along with this program. If not, see - */ - - #ifndef __XBOT_RT_LOGGER_HPP__ - #define __XBOT_RT_LOGGER_HPP__ - - - #include - #include - #include - - #include - - #include - #include - - - namespace XBot { - - /* Modifiers */ - std::ostream& bold_on(std::ostream& os); - - std::ostream& bold_off(std::ostream& os); - - std::ostream& color_green(std::ostream& os); - - std::ostream& color_red(std::ostream& os); - - std::ostream& color_yellow(std::ostream& os); - - std::ostream& color_reset(std::ostream& os); - - class LoggerClass; - - - class Endl { - - public: - - friend class LoggerClass; - - friend void operator<< ( std::ostream& os, Endl& endl ); - - private: - - Endl(LoggerClass& logger_handle); - - LoggerClass& _logger_handle; - - void print(); - - }; - - - - class Logger { - - public: - - enum class Severity { DEBUG = -1, LOW = 0, MID = 1, HIGH = 2, FATAL = 3 }; - - static std::ostream& log(); - - static std::ostream& info(Logger::Severity s = Logger::Severity::LOW); - - static void info(Logger::Severity s, const char * fmt, ...); - - static void info(const char * fmt, ...); - - static std::ostream& error(Logger::Severity s = Logger::Severity::HIGH); - - static void error(Logger::Severity s, const char * fmt, ...); - - static void error(const char * fmt, ...); - - static std::ostream& warning(Logger::Severity s = Logger::Severity::MID); - - static void warning(Logger::Severity s, const char * fmt, ...); - - static void warning(const char * fmt, ...); - - static std::ostream& success(Logger::Severity s = Logger::Severity::LOW); - - static void success(Logger::Severity s, const char * fmt, ...); - - static void success(const char * fmt, ...); - - - static Endl& endl(); - - static void SetVerbosityLevel(Logger::Severity s); - - static Logger::Severity GetVerbosityLevel(); - - static void SetOnPrintCallback(std::function f); - - - protected: - - private: - - Logger() = delete; - - static LoggerClass _logger; - - }; - - - class LoggerClass { - - public: - - friend class Endl; - - friend class Logger; - - typedef std::shared_ptr Ptr; - - typedef std::function OnPrintCallback; - - static void DefaultOnPrint(char *, int, Logger::Severity); - - LoggerClass(std::string logger_name); - LoggerClass(std::string logger_name, OnPrintCallback f); - - ~LoggerClass(); - - std::ostream& log(); - - std::ostream& info(Logger::Severity s = Logger::Severity::LOW); - - void info(Logger::Severity s, const char * fmt, ...); - - void info(const char * fmt, ...); - - std::ostream& error(Logger::Severity s = Logger::Severity::HIGH); - - void error(Logger::Severity s, const char * fmt, ...); - - void error(const char * fmt, ...); - - std::ostream& warning(Logger::Severity s = Logger::Severity::MID); - - void warning(Logger::Severity s, const char * fmt, ...); - - void warning(const char * fmt, ...); - - std::ostream& success(Logger::Severity s = Logger::Severity::LOW); - - void success(Logger::Severity s, const char * fmt, ...); - - void success(const char * fmt, ...); - - - Endl& endl(); - - void setVerbosityLevel(Logger::Severity s); - - Logger::Severity getVerbosityLevel() const; - - void setOnPrintCallback(std::function f); - - - - private: - - typedef boost::iostreams::stream ostream_t; - - void print(); - - void init_sink(); - - void __info(Logger::Severity s, const char * fmt, va_list args); - void __error(Logger::Severity s, const char * fmt, va_list args); - void __warning(Logger::Severity s, const char * fmt, va_list args); - void __success(Logger::Severity s, const char * fmt, va_list args); - void __fmt_print(const char * fmt, va_list args); - - static const int BUFFER_SIZE = 4096; - - char _buffer[BUFFER_SIZE]; - - ostream_t _sink; - - Endl _endl; - - std::string _name, _name_tag; - Logger::Severity _severity; - Logger::Severity _verbosity_level; - - std::function _on_print; - - }; - - - - - - } - - - #endif diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h.rst.txt deleted file mode 100644 index 46898529..00000000 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h.rst.txt +++ /dev/null @@ -1,170 +0,0 @@ - -.. _program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h: - -Program Listing for File SoLib.h -================================ - -|exhale_lsh| :ref:`Return to documentation for file ` (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/SoLib.h``) - -.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS - -.. code-block:: cpp - - /* - * Copyright (C) 2017 IIT-ADVR - * Author: Giuseppe Rigano - * email: giuseppe.rigano@iit.it - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU Lesser General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public License - * along with this program. If not, see - */ - - - #ifndef __SO_LIB_H__ - #define __SO_LIB_H__ - - #include - #include - #include - - #include - #include - - #define REGISTER_SO_LIB_(class_name, base_class) \ - extern "C" base_class* create_instance() \ - { \ - return new class_name(); \ - }\ - \ - extern "C" void destroy_instance( base_class* instance ) \ - { \ - delete instance; \ - }\ - - - - using XBot::Logger; - - namespace - { - - - class SoLib - { - - public: - - template - static std::shared_ptr getFactory ( const std::string& path_to_so, const std::string& lib_name ) { - char *error; - void* lib_handle; - lib_handle = dlopen ( path_to_so.c_str(), RTLD_NOW ); - if ( !lib_handle ) { - XBot::Logger::error() << lib_name <<" so library NOT found! \n" << dlerror() << XBot::Logger::endl(); - } else { - Logger::success() << lib_name << " so library found! " << Logger::endl(); - handles[lib_name] = lib_handle; - - T* ( *create ) (); - create = ( T* ( * ) () ) dlsym ( lib_handle, "create_instance" ); - if ( ( error = dlerror() ) != NULL ) { - XBot::Logger::error() << " in loading library " << lib_name << ": \n" << error << XBot::Logger::endl(); - return nullptr; - } - - T* instance = ( T* ) create(); - if ( instance != nullptr ) { - return std::shared_ptr ( instance ); - } - - XBot::Logger::error() << " in loading library " << lib_name << ": obtained pointer is null" << XBot::Logger::endl(); - } - - return nullptr; - - } - - static void unloadLib ( const std::string& file_name ) { - dlclose ( handles[file_name] ); - Logger::info() << file_name <<" so library unloaded! " << Logger::endl(); - } - - template - static std::shared_ptr getFactoryWithArgs ( const std::string& path_to_so, const std::string& lib_name, Args... args ) { - char *error; - void* lib_handle; - lib_handle = dlopen ( path_to_so.c_str(), RTLD_NOW ); - if ( !lib_handle ) { - XBot::Logger::error() << lib_name <<" so library NOT found! \n" << dlerror() << XBot::Logger::endl(); - } else { - Logger::success() << lib_name << " so library found! " << Logger::endl(); - handles[lib_name] = lib_handle; - - T* ( *create ) ( Args... args ); - create = ( T* ( * ) ( Args... args ) ) dlsym ( lib_handle, "create_instance" ); - if ( ( error = dlerror() ) != NULL ) { - XBot::Logger::error() << " in loading library " << lib_name << ": \n" << error << XBot::Logger::endl(); - return nullptr; - } - - T* instance = ( T* ) create ( args... ); - if ( instance != nullptr ) { - return std::shared_ptr ( instance ); - } - - XBot::Logger::error() << " in loading library " << lib_name << ": obtained pointer is null" << XBot::Logger::endl(); - } - - return nullptr; - - } - - private: - - SoLib() = delete; - - static std::map handles; - - static bool computeAbsolutePath ( const std::string& input_path, - const std::string& middle_path, - std::string& absolute_path ) { - // if not an absolute path - if ( ! ( input_path.at ( 0 ) == '/' ) ) { - // if you are working with the Robotology Superbuild - const char* env_p = std::getenv ( "XBOT_ROOT" ); - // check the env, otherwise error - if ( env_p ) { - std::string current_path ( env_p ); - // default relative path when working with the superbuild - current_path += middle_path; - current_path += input_path; - absolute_path = current_path; - return true; - } else { - std::cerr << "ERROR in " << __func__ << " : the input path " << input_path << " is neither an absolute path nor related with the robotology superbuild. Download it!" << std::endl; - return false; - } - } - // already an absolute path - absolute_path = input_path; - return true; - } - - - }; - - std::map SoLib::handles; - - } - - #endif diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h.rst.txt index 3b14c904..fc69a173 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h.rst.txt @@ -44,6 +44,13 @@ Program Listing for File cartesian_utils.h virtual double compute(const Eigen::VectorXd &x) = 0; }; + class GradientVector { + int _size; + public: + GradientVector(const int x_size) : _size(x_size) {} + virtual Eigen::VectorXd compute(const Eigen::VectorXd &x) = 0; + int size() { return _size; } + }; class quaternion { @@ -203,6 +210,17 @@ Program Listing for File cartesian_utils.h class cartesian_utils { public: + static int pnpoly(int nvert, float *vertx, float *verty, float testx, float testy) + { + int i, j, c = 0; + for (i = 0, j = nvert-1; i < nvert; j = i++) { + if ( ((verty[i]>testy) != (verty[j]>testy)) && + (testx < (vertx[j]-vertx[i]) * (testy-verty[i]) / (verty[j]-verty[i]) + vertx[i]) ) + c = !c; + } + return c; + } + static void computePanTiltMatrix(const Eigen::VectorXd& gaze, KDL::Frame& pan_tilt_matrix); static void computeCartesianError(const Eigen::Matrix4d &T, @@ -213,7 +231,17 @@ Program Listing for File cartesian_utils.h const Eigen::Affine3d &Td, Eigen::Vector3d& position_error, Eigen::Vector3d& orientation_error); + + static Eigen::VectorXd computeGradient(const Eigen::VectorXd &x, + CostFunction &fun, + const double &step = 1E-3); + + static Eigen::VectorXd computeGradient(const Eigen::VectorXd &x, + CostFunction &fun, + const std::vector& jointMask, + const double &step = 1E-3); }; + #endif diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h.rst.txt new file mode 100644 index 00000000..685aa31a --- /dev/null +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h.rst.txt @@ -0,0 +1,183 @@ + +.. _program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h: + +Program Listing for File collision_utils.h +========================================== + +|exhale_lsh| :ref:`Return to documentation for file ` (``/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/collision_utils.h``) + +.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS + +.. code-block:: cpp + + /* + * Copyright (C) 2014 Walkman + * Author: Enrico Mingo, Alessio Rocchi, Cheng Fang, Arturo Laurenzi + * email: enrico.mingo@iit.it, alessio.rocchi@iit.it, arturo.laurenzi@iit.it + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with this program. If not, see + */ + + #ifndef OPENSOT_COLLISION_UTILS_H_ + #define OPENSOT_COLLISION_UTILS_H_ + + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + + #include + + #include + + + // construct vector + inline KDL::Vector toKdl(urdf::Vector3 v) + { + return KDL::Vector(v.x, v.y, v.z); + } + + // construct rotation + inline KDL::Rotation toKdl(urdf::Rotation r) + { + return KDL::Rotation::Quaternion(r.x, r.y, r.z, r.w); + } + + // construct pose + inline KDL::Frame toKdl(urdf::Pose p) + { + return KDL::Frame(toKdl(p.rotation), toKdl(p.position)); + } + + + class ComputeLinksDistance + { + + public: + + ComputeLinksDistance(const XBot::ModelInterface& model, + urdf::ModelConstSharedPtr collision_urdf = nullptr, + srdf::ModelConstSharedPtr collision_srdf = nullptr); + + std::list getLinkDistances(double detectionThreshold = std::numeric_limits::infinity()); + + bool setCollisionWhiteList(std::list< LinkPairDistance::LinksPair > whiteList); + + bool setCollisionBlackList(std::list< LinkPairDistance::LinksPair > blackList); + + bool setWorldCollisions(const moveit_msgs::PlanningSceneWorld& wc); + + bool addWorldCollision(const std::string& id, + std::shared_ptr fcl_obj); + + bool removeWorldCollision(const std::string& id); + + void removeAllWorldCollision(); + + bool moveWorldCollision(const std::string& id, + KDL::Frame new_pose); + + static fcl::Transform3 KDL2fcl(const KDL::Frame &in); + + static KDL::Frame fcl2KDL(const fcl::Transform3d& in); + + class LinksPair + { + + public: + + std::string linkA; + std::string linkB; + std::shared_ptr collisionObjectA; + std::shared_ptr collisionObjectB; + + LinksPair(ComputeLinksDistance* const father, + std::string linkA, + std::string linkB); + + }; + + friend class ComputeLinksDistance::LinksPair; + + std::map> getCollisionObjects(){ return _collision_obj;} + + bool globalToLinkCoordinates(const std::string& linkName, + const fcl::Transform3& w_T_f, + KDL::Frame& link_T_f); + + bool updateCollisionObjects(); + + std::map getLinkToShapeTransforms(); + + void setLinksVsEnvironment(const std::list& links); + + private: + + collision_detection::AllowedCollisionMatrixPtr _acm; + + const XBot::ModelInterface& _model; + + robot_model::RobotModelConstPtr _moveit_model; + + srdf::ModelSharedPtr _srdf; + + urdf::ModelSharedPtr _urdf; + + std::map> _collision_obj; + + std::set _env_obj_names; + + std::map _link_T_shape; + + bool shapeToLinkCoordinates(const std::string &linkName, + const fcl::Transform3 &fcl_shape_T_f, + KDL::Frame &link_T_f); + + + bool parseCollisionObjects(); + + + + void generateLinksToUpdate(); + + std::set _links_to_update; + + std::set _links_vs_environment; + + void generatePairsToCheck(); + + std::list _pairs_to_check; + + void loadDisabledCollisionsFromSRDF(const srdf::Model& srdf, + collision_detection::AllowedCollisionMatrixPtr acm); + + + }; + + #endif diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h.rst.txt index 1f71f41d..22bb3c01 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h.rst.txt @@ -41,8 +41,7 @@ Program Listing for File convex_hull_utils.h #include #include #include - #include - #include + #include class convex_hull { @@ -50,13 +49,13 @@ Program Listing for File convex_hull_utils.h convex_hull(); ~convex_hull(); - bool getSupportPolygonPoints(std::list& points, + bool getSupportPolygonPoints(std::list& points, const std::list links_in_contact, const XBot::ModelInterface& model, const std::string referenceFrame = "COM"); - bool getConvexHull(const std::list& points, - std::vector& ch); + bool getConvexHull(const std::list& points, + std::vector& ch); //void setRansacDistanceThr(const double x){_ransac_distance_thr = x;} private: @@ -64,15 +63,15 @@ Program Listing for File convex_hull_utils.h pcl::PointCloud::Ptr _pointCloud; pcl::PointCloud::Ptr _projectedPointCloud; - Eigen::Affine3d world_T_CoM; - Eigen::Affine3d world_T_point; - Eigen::Affine3d referenceFrame_T_point; - Eigen::Affine3d CoM_T_point; + KDL::Frame world_T_CoM; + KDL::Frame world_T_point; + KDL::Frame referenceFrame_T_point; + KDL::Frame CoM_T_point; pcl::PointXYZ _tmp_pcl; pcl::PointCloud pointsInConvexHull; std::vector indicesOfVertexes; pcl::ConvexHull huller; - Eigen::Vector3d _tmp_vector; + KDL::Vector _tmp_vector; pcl::ProjectInliers proj; void projectPCL2Plane(const pcl::PointCloud::ConstPtr cloud, diff --git a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_variables_Torque.h.rst.txt b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_variables_Torque.h.rst.txt index ad8e38bf..44d2d175 100644 --- a/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_variables_Torque.h.rst.txt +++ b/_sources/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_variables_Torque.h.rst.txt @@ -14,8 +14,8 @@ Program Listing for File Torque.h #define __OPENSOT_VARIABLES_TORQUE_H__ #include - #include - #include + #include + #include namespace OpenSoT { namespace variables { diff --git a/_sources/api/typedef_namespacefcl_1ad8615572c5e4ddaf74ecafd812f6798d.rst.txt b/_sources/api/typedef_namespacefcl_1ad8615572c5e4ddaf74ecafd812f6798d.rst.txt new file mode 100644 index 00000000..0c5dae9f --- /dev/null +++ b/_sources/api/typedef_namespacefcl_1ad8615572c5e4ddaf74ecafd812f6798d.rst.txt @@ -0,0 +1,14 @@ +.. _exhale_typedef_namespacefcl_1ad8615572c5e4ddaf74ecafd812f6798d: + +Typedef fcl::CollisionObjectd +============================= + +- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h` + + +Typedef Documentation +--------------------- + + +.. doxygentypedef:: fcl::CollisionObjectd + :project: OpenSoT \ No newline at end of file diff --git a/_sources/api/unabridged_orphan.rst.txt b/_sources/api/unabridged_orphan.rst.txt index 76971beb..fe242801 100644 --- a/_sources/api/unabridged_orphan.rst.txt +++ b/_sources/api/unabridged_orphan.rst.txt @@ -170,12 +170,12 @@ Files .. toctree:: :maxdepth: 5 - file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.rst + file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h.rst .. toctree:: :maxdepth: 5 - file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h.rst + file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.rst .. toctree:: :maxdepth: 5 @@ -197,11 +197,6 @@ Files file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h.rst -.. toctree:: - :maxdepth: 5 - - file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h.rst - .. toctree:: :maxdepth: 5 @@ -257,6 +252,11 @@ Files file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h.rst +.. toctree:: + :maxdepth: 5 + + file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h.rst + .. toctree:: :maxdepth: 5 @@ -357,6 +357,11 @@ Files file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_LinearMomentum.h.rst +.. toctree:: + :maxdepth: 5 + + file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h.rst + .. toctree:: :maxdepth: 5 @@ -432,16 +437,6 @@ Files file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_qpSWIFTBackEnd.h.rst -.. toctree:: - :maxdepth: 5 - - file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp.rst - -.. toctree:: - :maxdepth: 5 - - file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h.rst - .. toctree:: :maxdepth: 5 diff --git a/_static/openSoT_logo.png b/_static/openSoT_logo.png index 4410c462..504df64b 100644 Binary files a/_static/openSoT_logo.png and b/_static/openSoT_logo.png differ diff --git a/api/classComputeLinksDistance.html b/api/classComputeLinksDistance.html new file mode 100644 index 00000000..d35410d8 --- /dev/null +++ b/api/classComputeLinksDistance.html @@ -0,0 +1,491 @@ + + + + + + Class ComputeLinksDistance — OpenSoT documentation + + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Class ComputeLinksDistance

+ +
+

Nested Relationships

+ +
+
+

Class Documentation

+
+
+class ComputeLinksDistance
+
+

Public Functions

+
+
+ComputeLinksDistance(const XBot::ModelInterface &model, urdf::ModelConstSharedPtr collision_urdf = nullptr, srdf::ModelConstSharedPtr collision_srdf = nullptr)
+

ComputeLinksDistance is an utility class to retrieve distances between robot link collisions, as well as between robot links and the environment.

+
+
Parameters
+
    +

  • model – to retrieve kinematic information (link poses)

    • +

  • collision_urdf – if passed, overrides the collision information of model

    • +

  • collision_srdf – if passed, overrides the model’s allowed collisions

    • +
+
+
+
+ +
+
+std::list<LinkPairDistance> getLinkDistances(double detectionThreshold = std::numeric_limits<double>::infinity())
+

getLinkDistances returns a list of distances between all link pairs which are enabled for checking.

+

If detectionThreshold is not infinity, the list will be clamped to contain only the pairs whose distance is smaller than the detection threshold.

+
+
Parameters
+

detectionThreshold – the maximum distance which we use to look for link pairs.

+
+
Returns
+

a sorted list of linkPairDistances

+
+
+
+ +
+
+bool setCollisionWhiteList(std::list<LinkPairDistance::LinksPair> whiteList)
+

setCollisionWhiteList resets the allowed collision matrix by setting all collision pairs as disabled.

+

It then enables all collision pairs specified in the whiteList. Lastly it will disable all collision pairs which are disabled in the SRDF

+
+
Parameters
+

whiteList – a list of links pairs for which to not check collision detection

+
+
Returns
+

+
+
+
+ +
+
+bool setCollisionBlackList(std::list<LinkPairDistance::LinksPair> blackList)
+

setCollisionBlackList resets the allowed collision matrix by setting all collision pairs (for which collision geometries are avaiable) as enabled.

+

It then disables all collision pairs specified in the blackList. Lastly it will disable all collision pairs which are disabled in the SRDF

+
+
Parameters
+

blackList – a list of links pairs for which to not check collision detection

+
+
Returns
+

+
+
+
+ +
+
+bool setWorldCollisions(const moveit_msgs::PlanningSceneWorld &wc)
+

add/remove world collision objects according to the given planning scene world

+
+
Returns
+

true if all requests (additions, deletions) could be performs succesfully, false on (partial) insuccess

+
+
+
+ +
+
+bool addWorldCollision(const std::string &id, std::shared_ptr<fcl::CollisionObjectd> fcl_obj)
+

add single collision to the world

+
+
Parameters
+
    +

  • id – is the unique collision id

    • +

  • fcl_obj – is the fcl collision object (geometry + transform)

    • +
+
+
Returns
+

true if input is valid

+
+
+
+ +
+
+bool removeWorldCollision(const std::string &id)
+

remove world collision with given id

+
+ +
+
+void removeAllWorldCollision()
+

remove all world collisions

+
+ +
+
+bool moveWorldCollision(const std::string &id, KDL::Frame new_pose)
+

change the transform w.r.t.

+

the world for the given world collision

+
+ +
+
+inline std::map<std::string, std::shared_ptr<fcl::CollisionObjectd>> getCollisionObjects()
+
+ +
+
+bool globalToLinkCoordinates(const std::string &linkName, const fcl::Transform3<double> &w_T_f, KDL::Frame &link_T_f)
+

globalToLinkCoordinates transforms a fcl::Transform3f frame to a KDL::Frame in the link reference frame

+
+
Parameters
+
    +

  • linkName – the link name representing a link reference frame

    • +

  • w_T_f – fcl::Transform3f representing a frame in a global reference frame

    • +

  • link_T_f – a KDL::Frame representing a frame in link reference frame

    • +
+
+
Returns
+

true on success

+
+
+
+ +
+
+bool updateCollisionObjects()
+

updateCollisionObjects updates all collision objects with correct transforms (link_T_shape)

+
+
Returns
+

true on success

+
+
+
+ +
+
+std::map<std::string, KDL::Frame> getLinkToShapeTransforms()
+
+ +
+
+void setLinksVsEnvironment(const std::list<std::string> &links)
+
+ +
+
+

Public Static Functions

+
+
+static fcl::Transform3<double> KDL2fcl(const KDL::Frame &in)
+

KDL2fcl ceonverts a kdl transform into a fcl transform.

+
+
Parameters
+

in – a KDL::Frame

+
+
Returns
+

fcl::Transform3f

+
+
+
+ +
+
+static KDL::Frame fcl2KDL(const fcl::Transform3d &in)
+

fcl2KDL converts a fcl transform into a kdl transform

+
+
Parameters
+

in – a fcl::Transform3f

+
+
Returns
+

a KDL::Frame

+
+
+
+ +
+
+

Friends

+
+
+friend class ComputeLinksDistance::LinksPair
+
+ +
+
+
+class LinksPair
+
+

Public Functions

+
+
+LinksPair(ComputeLinksDistance *const father, std::string linkA, std::string linkB)
+
+ +
+
+

Public Members

+
+
+std::string linkA
+
+ +
+
+std::string linkB
+
+ +
+
+std::shared_ptr<fcl::CollisionObjectd> collisionObjectA
+
+ +
+
+std::shared_ptr<fcl::CollisionObjectd> collisionObjectB
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1CollisionAvoidance.html b/api/classComputeLinksDistance_1_1LinksPair.html similarity index 69% rename from api/classOpenSoT_1_1tasks_1_1velocity_1_1CollisionAvoidance.html rename to api/classComputeLinksDistance_1_1LinksPair.html index 571e2918..bc64534f 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1CollisionAvoidance.html +++ b/api/classComputeLinksDistance_1_1LinksPair.html @@ -3,7 +3,7 @@ - Class CollisionAvoidance — OpenSoT documentation + Class ComputeLinksDistance::LinksPair — OpenSoT documentation @@ -20,8 +20,8 @@ - - + + @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -195,9 +194,9 @@
    @@ -205,41 +204,48 @@
    -
    -

    Class CollisionAvoidance

    +
    +

    Class ComputeLinksDistance::LinksPair

    -
    -

    Inheritance Relationships

    -
    -

    Base Type

    - -
    +
    +

    Nested Relationships

    +

    This class is a nested type of Class ComputeLinksDistance.

    Class Documentation

    -
    -class CollisionAvoidance : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>
    +
    +class LinksPair

    Public Functions

    -
    -CollisionAvoidance(constraints::velocity::CollisionAvoidance::Ptr constr)
    +
    +LinksPair(ComputeLinksDistance *const father, std::string linkA, std::string linkB)
    -
    -
    -virtual void _update() override
    -

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    -
    +
    +
    +

    Public Members

    +
    +
    +std::string linkA
    +
    -
    -
    -constraints::velocity::CollisionAvoidance::Ptr getConstraint()
    +
    +
    +std::string linkB
    +
    + +
    +
    +std::shared_ptr<fcl::CollisionObjectd> collisionObjectA
    +
    + +
    +
    +std::shared_ptr<fcl::CollisionObjectd> collisionObjectB
    @@ -252,8 +258,8 @@

    Class Documentation - - + +

    diff --git a/api/classCostFunction.html b/api/classCostFunction.html index 6b452ed9..8313faa0 100644 --- a/api/classCostFunction.html +++ b/api/classCostFunction.html @@ -20,7 +20,7 @@ - + @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -254,7 +253,7 @@

    Class Documentation - +

    diff --git a/api/classOpenSoT_1_1tasks_1_1ConstraintToTask.html b/api/classGradientVector.html similarity index 75% rename from api/classOpenSoT_1_1tasks_1_1ConstraintToTask.html rename to api/classGradientVector.html index 7d7e2617..8cca9128 100644 --- a/api/classOpenSoT_1_1tasks_1_1ConstraintToTask.html +++ b/api/classGradientVector.html @@ -3,7 +3,7 @@ - Class ConstraintToTask — OpenSoT documentation + Class GradientVector — OpenSoT documentation @@ -20,8 +20,8 @@ - - + + @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -195,9 +194,9 @@
    @@ -205,38 +204,43 @@
    -
    -

    Class ConstraintToTask

    +
    +

    Class GradientVector

    -
    -

    Inheritance Relationships

    -
    -

    Base Type

    - -
    -

    Class Documentation

    -
    -class ConstraintToTask : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>
    -
    +
    +class GradientVector
    +

    The GradientVector class pure virtual function used to describe functions for computeHessian method.

    +

    Public Functions

    -
    -ConstraintToTask(ConstraintPtr constraint, std::function<const Eigen::VectorXd&()>)
    +
    +inline GradientVector(const int x_size)
    -
    -virtual void _update() override
    -

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +virtual Eigen::VectorXd compute(const Eigen::VectorXd &x) = 0
    +

    compute value of function in x

    +
    +
    Parameters
    +

    x –

    +
    +
    Returns
    +

    scalar

    +
    +
    +
    +
    +inline int size()
    +
    +
    @@ -247,8 +251,8 @@

    Class Documentation - - + +

    diff --git a/api/classLDLTInverse.html b/api/classLDLTInverse.html index 7e9f8348..82973305 100644 --- a/api/classLDLTInverse.html +++ b/api/classLDLTInverse.html @@ -20,8 +20,8 @@ - - + + @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -238,8 +237,8 @@

    Class Documentation - - + +

    diff --git a/api/classLinkPairDistance.html b/api/classLinkPairDistance.html new file mode 100644 index 00000000..a798920e --- /dev/null +++ b/api/classLinkPairDistance.html @@ -0,0 +1,338 @@ + + + + + + Class LinkPairDistance — OpenSoT documentation + + + + + + + + + + + + + + + + + + + +
    + + +
    + +
    +
    +
    + +
    +
    +
    +
    + +
    +

    Class LinkPairDistance

    + +
    +

    Class Documentation

    +
    +
    +class LinkPairDistance
    +

    The LinkPairDistance class represents the minimum distance information between two links.

    +

    The two links must have shape (i.e. collision) information. Instances of this class will contain the name of both links in the pair, the actual minimum distance between the two, and the homogeneous transforms in the respective link frame reference system of the minimum distance point in each shape.

    +
    +

    Public Types

    +
    +
    +typedef std::pair<std::string, std::string> LinksPair
    +
    + +
    +
    +

    Public Functions

    +
    +
    +LinkPairDistance(const std::string &link1, const std::string &link2, const KDL::Frame &w_T_closestPoint1, const KDL::Frame &w_T_closestPoint2, const double &distance)
    +

    LinkPairDistance creates an instance of a link pair distance data structure.

    +
    +
    Parameters
    +
      +

    • link1 – the first link name

      • +

    • link2 – the second link name

      • +

    • w_T_closestPoint1 – the transform from the world frame to the closest point on its shape

      • +

    • w_T_closesPoint2 – the transform from the world frame to the closest point on its shape

      • +

    • distance – the distance between the two minimum distance points

      • +
    +
    +
    +
    + +
    +
    +bool isLink2WorldObject() const
    +

    isLink2WorldObject returns true if link2 refers to an environment object, and not a robot link.

    +

    On the other hand, link1 is always a robot link

    +
    + +
    +
    +const double &getDistance() const
    +

    getDistance returns the minimum distance between the two link shapes

    +
    +
    Returns
    +

    a double representing the minimum distance

    +
    +
    +
    + +
    +
    +const std::pair<KDL::Frame, KDL::Frame> &getClosestPoints() const
    +

    getLink_T_closestPoint returns a pair of homogeneous transformation from a link reference frame to the closest point on the respective link shape

    +
    +
    Returns
    +

    a pair of homogeneous transformations

    +
    +
    +
    + +
    +
    +const std::pair<std::string, std::string> &getLinkNames() const
    +

    getLinkNames returns the pair of links between which we want express the distance information

    +
    +
    Returns
    +

    a pair of strings

    +
    +
    +
    + +
    +
    +bool operator<(const LinkPairDistance &second) const
    +

    operator< is the comparison operator between two LinkDIstancePairs.

    +

    It returns true if the first link pair is closer than the second pair. If the distance is exactly the same, the pairs will be sorted by alphabetic order using the first link name in each pair

    +
    +
    Parameters
    +

    second – the second link pair

    +
    +
    Returns
    +

    true if first pair is closer than second pair

    +
    +
    +
    + +
    +
    + +
    +
    + + +
    +
    + +
    +
    +
    +
    + + + + \ No newline at end of file diff --git a/api/classOpenSoT_1_1AffineHelperBase.html b/api/classOpenSoT_1_1AffineHelperBase.html index 2250bb33..e111eea4 100644 --- a/api/classOpenSoT_1_1AffineHelperBase.html +++ b/api/classOpenSoT_1_1AffineHelperBase.html @@ -21,7 +21,7 @@ - + @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -282,22 +281,22 @@

    Class Documentation
    -template<typename OtherM, typename OtherQ>
    inline     AffineHelperBase<DerivedM, DerivedQ> &operator=(const AffineHelperBase<OtherM, OtherQ> &other)
    +template<typename OtherM, typename OtherQ>
    inline AffineHelperBase<DerivedM, DerivedQ> &operator=(const AffineHelperBase<OtherM, OtherQ> &other)
    -template<typename OtherM, typename OtherQ>
    AffineHelperBase<DerivedM, DerivedQ> &operator+=(const AffineHelperBase<OtherM, OtherQ> &other)
    +template<typename OtherM, typename OtherQ>
    AffineHelperBase<DerivedM, DerivedQ> &operator+=(const AffineHelperBase<OtherM, OtherQ> &other)
    -inline const DerivedM &getM() const
    +inline const DerivedM &getM() const
    -inline const DerivedQ &getq() const
    +inline const DerivedQ &getq() const
    @@ -350,12 +349,12 @@

    Class DocumentationPublic Static Functions

    -static inline AffineHelperBase<DerivedM, DerivedQ> Identity(int size)
    +static inline AffineHelperBase<DerivedM, DerivedQ> Identity(int size)
    -static inline AffineHelperBase<DerivedM, DerivedQ> Zero(int input_size, int output_size)
    +static inline AffineHelperBase<DerivedM, DerivedQ> Zero(int input_size, int output_size)

    @@ -363,12 +362,12 @@

    Class DocumentationProtected Functions

    -inline AffineHelperBase<DerivedM, DerivedQ> &self()
    +inline AffineHelperBase<DerivedM, DerivedQ> &self()
    -inline const AffineHelperBase<DerivedM, DerivedQ> &self() const
    +inline const AffineHelperBase<DerivedM, DerivedQ> &self() const
    @@ -399,7 +398,7 @@

    Class Documentation - +

    diff --git a/api/classOpenSoT_1_1AffineUtils_1_1AffineConstraint.html b/api/classOpenSoT_1_1AffineUtils_1_1AffineConstraint.html index 84cfedfe..97ef0def 100644 --- a/api/classOpenSoT_1_1AffineUtils_1_1AffineConstraint.html +++ b/api/classOpenSoT_1_1AffineUtils_1_1AffineConstraint.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -240,9 +239,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    @@ -252,7 +256,7 @@

    Class Documentation
    -inline OpenSoT::constraints::Aggregated::ConstraintPtr &getConstraint()
    +inline OpenSoT::constraints::Aggregated::ConstraintPtr &getConstraint()

    diff --git a/api/classOpenSoT_1_1AffineUtils_1_1AffineTask.html b/api/classOpenSoT_1_1AffineUtils_1_1AffineTask.html index cc3a6350..27521125 100644 --- a/api/classOpenSoT_1_1AffineUtils_1_1AffineTask.html +++ b/api/classOpenSoT_1_1AffineUtils_1_1AffineTask.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -240,9 +239,14 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    @@ -252,7 +256,7 @@

    Class Documentation
    -inline OpenSoT::tasks::Aggregated::TaskPtr &getTask()
    +inline OpenSoT::tasks::Aggregated::TaskPtr &getTask()

    diff --git a/api/classOpenSoT_1_1AutoStack.html b/api/classOpenSoT_1_1AutoStack.html index 844a5fe8..ec0bc889 100644 --- a/api/classOpenSoT_1_1AutoStack.html +++ b/api/classOpenSoT_1_1AutoStack.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -215,7 +214,7 @@

    Class Documentation
    class AutoStack
    -

    The AutoStack class eases the managing of a stack of task, by automatically calling the update() function on all tasks of the stack.

    +

    The AutoStack class eases the managing of a stack of task, by automatically calling the update() function on all tasks of the stack.

    Many operators are defined for the AutoStack, so that it’s possible to concisely write stacks. It allows to use the MOT (Math of Tasks) to define stacks, e.g.: AutoStack = (T1 + T2) / (T3 << ConstraintT3 + T4) << Bounds

    Public Types

    @@ -227,11 +226,6 @@

    Class Documentation

    Public Functions

    -
    -
    -AutoStack(const int x_size)
    -
    -
    AutoStack(OpenSoT::tasks::Aggregated::TaskPtr task)
    @@ -253,8 +247,8 @@

    Class Documentation -
    -void update()
    +
    +void update(const Eigen::VectorXd &state)

    @@ -269,12 +263,12 @@

    Class Documentation
    -OpenSoT::solvers::iHQP::Stack &getStack()
    +OpenSoT::solvers::iHQP::Stack &getStack()

    -std::list<OpenSoT::constraints::Aggregated::ConstraintPtr> &getBoundsList()
    +std::list<OpenSoT::constraints::Aggregated::ConstraintPtr> &getBoundsList()
    @@ -297,7 +291,7 @@

    Class Documentation void setBoundsAggregationPolicy(const unsigned int aggregationPolicy = OpenSoT::constraints::Aggregated::EQUALITIES_TO_INEQUALITIES | OpenSoT::constraints::Aggregated::UNILATERAL_TO_BILATERAL)

    setBoundsAggregationPolicy changes the aggregation policy of the bounds as returned by the getBounds() function.

    -

    Notice calling this will create a new bounds object (an instance of OpenSoT::constraints::Aggregated), so that the update() function of this AutoStack will then update only the new instance. If you have another instance of those Bounds lying around, you should then manually update that before using it.

    +

    Notice calling this will create a new bounds object (an instance of OpenSoT::constraints::Aggregated), so that the update() function of this AutoStack will then update only the new instance. If you have another instance of those Bounds lying around, you should then manually update that before using it.

    Parameters

    aggregationPolicy – the new aggregation policy for this AutoStack’s bounds

    @@ -315,6 +309,14 @@

    Class DocumentationOpenSoT::solvers::iHQP::TaskPtr getTask(const std::string &task_id)

    +

    +
    +

    Protected Functions

    +
    +
    +AutoStack(const double x_size)
    +
    +
    diff --git a/api/classOpenSoT_1_1Constraint.html b/api/classOpenSoT_1_1Constraint.html index ad5a0732..7c1e6f80 100644 --- a/api/classOpenSoT_1_1Constraint.html +++ b/api/classOpenSoT_1_1Constraint.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -254,37 +253,37 @@

    Class Documentation
    -inline virtual const Vector_type &getLowerBound()
    +inline virtual const Vector_type &getLowerBound()
    -inline virtual const Vector_type &getUpperBound()
    +inline virtual const Vector_type &getUpperBound()
    -inline virtual const Matrix_type &getAeq()
    +inline virtual const Matrix_type &getAeq()
    -inline virtual const Vector_type &getbeq()
    +inline virtual const Vector_type &getbeq()
    -inline virtual const Matrix_type &getAineq()
    +inline virtual const Matrix_type &getAineq()
    -inline virtual const Vector_type &getbLowerBound()
    +inline virtual const Vector_type &getbLowerBound()
    -inline virtual const Vector_type &getbUpperBound()
    +inline virtual const Vector_type &getbUpperBound()
    @@ -376,9 +375,14 @@

    Class Documentation -
    -inline virtual void update()
    +
    +inline virtual void update(const Vector_type &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    @@ -435,50 +439,43 @@

    Class Documentation
    Vector_type _lowerBound
    -

    _lowerBound lower bounds on controlled variables e.g.

    -

    : _lowerBound <= x

    +

    _lowerBound lower bounds on controlled variables e.g.: _lowerBound <= x

    Vector_type _upperBound
    -

    _upperBound upper bounds on controlled variables e.g.

    -

    : x <= _upperBound

    +

    _upperBound upper bounds on controlled variables e.g.: x <= _upperBound

    Matrix_type _Aeq
    -

    _Aeq Matrix for equality constraint e.g.

    -

    : _Aeq*x = _beq

    +

    _Aeq Matrix for equality constraint e.g.: _Aeq*x = _beq

    Vector_type _beq
    -

    _beq constraint vector for equality constraint e.g.

    -

    : _Aeq*x = _beq

    +

    _beq constraint vector for equality constraint e.g.: _Aeq*x = _beq

    Matrix_type _Aineq
    -

    _Aineq Matrix for inequality constraint e.g.

    -

    : _bLowerBound <= _Aineq*x <= _bUpperBound

    +

    _Aineq Matrix for inequality constraint e.g.: _bLowerBound <= _Aineq*x <= _bUpperBound

    Vector_type _bLowerBound
    -

    _bLowerBound lower bounds in generic inequality constraints e.g.

    -

    : _bLowerBound <= _Aineq*x

    +

    _bLowerBound lower bounds in generic inequality constraints e.g.: _bLowerBound <= _Aineq*x

    Vector_type _bUpperBound
    -

    _bUpperBound upper bounds in generic inequality constraints e.g.

    -

    : _Aineq*x <= _bUpperBound

    +

    _bUpperBound upper bounds in generic inequality constraints e.g.: _Aineq*x <= _bUpperBound

    diff --git a/api/classOpenSoT_1_1Indices.html b/api/classOpenSoT_1_1Indices.html index c866588c..b1d39e3b 100644 --- a/api/classOpenSoT_1_1Indices.html +++ b/api/classOpenSoT_1_1Indices.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -265,12 +264,12 @@

    Class Documentation
    -const ChunkList &getChunks() const
    +const ChunkList &getChunks() const
    -const std::list<unsigned int> &asList() const
    +const std::list<unsigned int> &asList() const

    asList returns the list of all rows as a list (first row has index 0)

    Returns
    @@ -281,7 +280,7 @@

    Class Documentation
    -const std::vector<unsigned int> &asVector() const
    +const std::vector<unsigned int> &asVector() const

    asVector returns the list of all rows as a vector (first row has index 0)

    Returns
    @@ -292,7 +291,7 @@

    Class Documentation
    -Indices &shift(unsigned int amount)
    +Indices &shift(unsigned int amount)

    shift shifts all indices by the amount specified

    Parameters
    @@ -313,7 +312,7 @@

    Class Documentation
    -Indices &filter(const OpenSoT::Indices &f)
    +Indices &filter(const OpenSoT::Indices &f)

    filter modifies the current set of indices by picking only the entries specified in f (the entries are counted starting from 0) For example, if the current object contains a set of 13 indices, [2,14], and the filter f contains 3 indices, [0,3,5] the final object will contain just 3 indices, [2, 5, 7]

    Parameters
    diff --git a/api/classOpenSoT_1_1OptvarHelper.html b/api/classOpenSoT_1_1OptvarHelper.html index 92517dfd..00414360 100644 --- a/api/classOpenSoT_1_1OptvarHelper.html +++ b/api/classOpenSoT_1_1OptvarHelper.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -248,7 +247,7 @@

    Class Documentation
    -std::vector<AffineHelper> getAllVariables() const
    +std::vector<AffineHelper> getAllVariables() const

    diff --git a/api/classOpenSoT_1_1Solver.html b/api/classOpenSoT_1_1Solver.html index 0a76ad32..08ee5071 100644 --- a/api/classOpenSoT_1_1Solver.html +++ b/api/classOpenSoT_1_1Solver.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • diff --git a/api/classOpenSoT_1_1SubConstraint.html b/api/classOpenSoT_1_1SubConstraint.html index dbb5bd79..df7651d0 100644 --- a/api/classOpenSoT_1_1SubConstraint.html +++ b/api/classOpenSoT_1_1SubConstraint.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -255,9 +254,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1SubTask.html b/api/classOpenSoT_1_1SubTask.html index 6ebf992d..034b4162 100644 --- a/api/classOpenSoT_1_1SubTask.html +++ b/api/classOpenSoT_1_1SubTask.html @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -271,7 +270,7 @@

    Class Documentation
    -virtual std::list<ConstraintPtr> &getConstraints()
    +virtual std::list<ConstraintPtr> &getConstraints()

    getConstraints return a reference to the constraint list.

    Use the standard list methods to add, remove, clear, … the constraints list. e.g.: task.getConstraints().push_back(new_constraint) Notice that in subtasks, you will get the constraint list of the father Task from which the SubTask is generated.

    @@ -294,7 +293,7 @@

    Class Documentation
    -virtual std::vector<bool> getActiveJointsMask()
    +virtual std::vector<bool> getActiveJointsMask()

    getActiveJointsMask return a vector of length NumberOfDOFs.

    If an element is false the corresponding column of the task jacobian is set to 0.

    @@ -395,8 +394,8 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    Parameters
    diff --git a/api/classOpenSoT_1_1Task.html b/api/classOpenSoT_1_1Task.html index 117e92b4..5bc8e9f5 100644 --- a/api/classOpenSoT_1_1Task.html +++ b/api/classOpenSoT_1_1Task.html @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -296,7 +295,7 @@

    Class Documentation inline void setActive(const bool active_flag)

    Activated / deactivates the task by setting the A matrix to zero.

    -

    Important note: after activating a task, call the update() function in order to recompute a proper A matrix.

    +

    Important note: after activating a task, call the update() function in order to recompute a proper A matrix.

    @@ -307,7 +306,7 @@

    Class Documentation
    -inline const Matrix_type &getA() const
    +inline const Matrix_type &getA() const

    getA

    Returns
    @@ -329,7 +328,7 @@

    Class Documentation
    -inline const Vector_type &getb() const
    +inline const Vector_type &getb() const

    getb

    Returns
    @@ -340,7 +339,7 @@

    Class Documentation
    -inline const Matrix_type &getWA() const
    +inline const Matrix_type &getWA() const

    getWA

    Returns
    @@ -351,8 +350,8 @@

    Class Documentation
    -inline const Matrix_type &getATranspose() const
    -

    getATranspose()

    +inline const Matrix_type &getATranspose() const
    +

    getATranspose()

    Returns

    A transposed

    @@ -362,7 +361,7 @@

    Class Documentation
    -inline const Vector_type &getWb() const
    +inline const Vector_type &getWb() const

    getWb

    Returns
    @@ -373,7 +372,7 @@

    Class Documentation
    -inline const Vector_type &getc() const
    +inline const Vector_type &getc() const

    getc

    Returns
    @@ -384,7 +383,7 @@

    Class Documentation
    -inline const Matrix_type &getWeight() const
    +inline const Matrix_type &getWeight() const

    getWeight

    Returns
    @@ -435,7 +434,7 @@

    Class Documentation
    -inline virtual std::list<ConstraintPtr> &getConstraints()
    +inline virtual std::list<ConstraintPtr> &getConstraints()

    getConstraints return a reference to the constraint list.

    Use the standard list methods to add, remove, clear, … the constraints list. e.g.: task.getConstraints().push_back(new_constraint)

    @@ -468,9 +467,14 @@

    Class Documentation -
    -inline void update()
    +
    +inline void update(const Vector_type &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    @@ -486,7 +490,7 @@

    Class Documentation
    -inline virtual std::vector<bool> getActiveJointsMask()
    +inline virtual std::vector<bool> getActiveJointsMask()

    getActiveJointsMask return a vector of length NumberOfDOFs.

    If an element is false the corresponding column of the task jacobian is set to 0.

    @@ -511,6 +515,23 @@

    Class Documentation +
    +inline virtual bool setActiveChainsMask(const std::vector<std::string> &active_chain_mask, XBot::ModelInterface::ConstPtr model)
    +

    setActiveChainsMask set a mask (of true) on the Jacobian of a vector of kinematic chains

    +
    +
    Parameters
    +
      +

    • active_chain_mask – vector of kinematic chains to set the active joint mask

      • +

    • model – to retrieve the joint names from the kinematic chains

      • +
    +
    +
    Returns
    +

    true

    +
    +
    +

    +
    inline virtual void log(XBot::MatLogger2::Ptr logger)
    @@ -552,9 +573,14 @@

    Class Documentation

    Protected Functions

    -
    -virtual void _update() = 0
    +
    +virtual void _update(const Vector_type &x) = 0

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    diff --git a/api/classOpenSoT_1_1constraints_1_1Aggregated.html b/api/classOpenSoT_1_1constraints_1_1Aggregated.html index 37370296..74858346 100644 --- a/api/classOpenSoT_1_1constraints_1_1Aggregated.html +++ b/api/classOpenSoT_1_1constraints_1_1Aggregated.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -264,6 +263,20 @@

    Class Documentation

    Public Functions

    +
    +
    +Aggregated(const std::list<ConstraintPtr> constraints, const Eigen::VectorXd &q, const unsigned int aggregationPolicy = EQUALITIES_TO_INEQUALITIES | UNILATERAL_TO_BILATERAL)
    +

    Aggregated.

    +
    +
    Parameters
    +
      +

    • bounds – a std::list of Bounds

      • +

    • q – the vector of q at which to create the Aggregated bound Notice that by specifying q, the Aggregated will automatically call update(q) on all tasks he is composed of

      • +
    +
    +
    +
    +
    Aggregated(const std::list<ConstraintPtr> constraints, const unsigned int x_size, const unsigned int aggregationPolicy = EQUALITIES_TO_INEQUALITIES | UNILATERAL_TO_BILATERAL)
    @@ -272,7 +285,7 @@

    Class DocumentationParameters

    @@ -287,16 +300,21 @@

    Class Documentation

    -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    @@ -312,7 +330,7 @@

    Class Documentation
    -inline std::list<ConstraintPtr> &getConstraintsList()
    +inline std::list<ConstraintPtr> &getConstraintsList()

    diff --git a/api/classOpenSoT_1_1constraints_1_1BilateralConstraint.html b/api/classOpenSoT_1_1constraints_1_1BilateralConstraint.html index 957067a1..6f8dbd3d 100644 --- a/api/classOpenSoT_1_1constraints_1_1BilateralConstraint.html +++ b/api/classOpenSoT_1_1constraints_1_1BilateralConstraint.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • diff --git a/api/classOpenSoT_1_1constraints_1_1GenericConstraint.html b/api/classOpenSoT_1_1constraints_1_1GenericConstraint.html index 72fd56d4..ad4071fd 100644 --- a/api/classOpenSoT_1_1constraints_1_1GenericConstraint.html +++ b/api/classOpenSoT_1_1constraints_1_1GenericConstraint.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -283,9 +282,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1constraints_1_1TaskToConstraint.html b/api/classOpenSoT_1_1constraints_1_1TaskToConstraint.html index 5165dd32..31c0958d 100644 --- a/api/classOpenSoT_1_1constraints_1_1TaskToConstraint.html +++ b/api/classOpenSoT_1_1constraints_1_1TaskToConstraint.html @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -265,8 +264,8 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &q)

    update updates the adapted task and the adapter constraint

    Parameters
    diff --git a/api/classOpenSoT_1_1constraints_1_1acceleration_1_1JointLimits.html b/api/classOpenSoT_1_1constraints_1_1acceleration_1_1JointLimits.html index bebd8979..5ca1e1c1 100644 --- a/api/classOpenSoT_1_1constraints_1_1acceleration_1_1JointLimits.html +++ b/api/classOpenSoT_1_1constraints_1_1acceleration_1_1JointLimits.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -255,9 +254,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1constraints_1_1acceleration_1_1JointLimitsECBF.html b/api/classOpenSoT_1_1constraints_1_1acceleration_1_1JointLimitsECBF.html index 9bfe7a83..b774b758 100644 --- a/api/classOpenSoT_1_1constraints_1_1acceleration_1_1JointLimitsECBF.html +++ b/api/classOpenSoT_1_1constraints_1_1acceleration_1_1JointLimitsECBF.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -254,9 +253,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1constraints_1_1acceleration_1_1JointLimitsViability.html b/api/classOpenSoT_1_1constraints_1_1acceleration_1_1JointLimitsViability.html index 32a65bb8..6bf34dc1 100644 --- a/api/classOpenSoT_1_1constraints_1_1acceleration_1_1JointLimitsViability.html +++ b/api/classOpenSoT_1_1constraints_1_1acceleration_1_1JointLimitsViability.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -256,9 +255,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1constraints_1_1acceleration_1_1TorqueLimits.html b/api/classOpenSoT_1_1constraints_1_1acceleration_1_1TorqueLimits.html index 13dbc897..8cdc0148 100644 --- a/api/classOpenSoT_1_1constraints_1_1acceleration_1_1TorqueLimits.html +++ b/api/classOpenSoT_1_1constraints_1_1acceleration_1_1TorqueLimits.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -257,9 +256,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    @@ -303,7 +307,7 @@

    Class Documentation
    -const std::vector<bool> &getEnabledContacts() const
    +const std::vector<bool> &getEnabledContacts() const

    getEnabledContacts

    Returns
    diff --git a/api/classOpenSoT_1_1constraints_1_1acceleration_1_1VelocityLimits.html b/api/classOpenSoT_1_1constraints_1_1acceleration_1_1VelocityLimits.html index 0cdb4c1a..776a98c7 100644 --- a/api/classOpenSoT_1_1constraints_1_1acceleration_1_1VelocityLimits.html +++ b/api/classOpenSoT_1_1constraints_1_1acceleration_1_1VelocityLimits.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -268,8 +267,8 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    update

    Parameters
    diff --git a/api/classOpenSoT_1_1constraints_1_1force_1_1CoP.html b/api/classOpenSoT_1_1constraints_1_1force_1_1CoP.html index 0ca0888d..81672f08 100644 --- a/api/classOpenSoT_1_1constraints_1_1force_1_1CoP.html +++ b/api/classOpenSoT_1_1constraints_1_1force_1_1CoP.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -251,12 +250,6 @@

    Class Documentation -
    -virtual void update()
    -

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    -

    -

    diff --git a/api/classOpenSoT_1_1constraints_1_1force_1_1CoPs.html b/api/classOpenSoT_1_1constraints_1_1force_1_1CoPs.html index 61ec1192..6fba627a 100644 --- a/api/classOpenSoT_1_1constraints_1_1force_1_1CoPs.html +++ b/api/classOpenSoT_1_1constraints_1_1force_1_1CoPs.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -240,9 +239,19 @@

    Class Documentation -
    -virtual void update()
    +
    +CoP::Ptr getCoP(const std::string &contact_name)
    +
    + +
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    diff --git a/api/classOpenSoT_1_1constraints_1_1force_1_1FrictionCone.html b/api/classOpenSoT_1_1constraints_1_1force_1_1FrictionCone.html index 7fbb40b8..3d5666b6 100644 --- a/api/classOpenSoT_1_1constraints_1_1force_1_1FrictionCone.html +++ b/api/classOpenSoT_1_1constraints_1_1force_1_1FrictionCone.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -246,9 +245,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    diff --git a/api/classOpenSoT_1_1constraints_1_1force_1_1FrictionCones.html b/api/classOpenSoT_1_1constraints_1_1force_1_1FrictionCones.html index aa4b989c..86195500 100644 --- a/api/classOpenSoT_1_1constraints_1_1force_1_1FrictionCones.html +++ b/api/classOpenSoT_1_1constraints_1_1force_1_1FrictionCones.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -250,9 +249,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1constraints_1_1force_1_1NormalTorque.html b/api/classOpenSoT_1_1constraints_1_1force_1_1NormalTorque.html index 5660fbb2..1cec6e57 100644 --- a/api/classOpenSoT_1_1constraints_1_1force_1_1NormalTorque.html +++ b/api/classOpenSoT_1_1constraints_1_1force_1_1NormalTorque.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -257,9 +256,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    diff --git a/api/classOpenSoT_1_1constraints_1_1force_1_1NormalTorques.html b/api/classOpenSoT_1_1constraints_1_1force_1_1NormalTorques.html index 78bb3369..6692520a 100644 --- a/api/classOpenSoT_1_1constraints_1_1force_1_1NormalTorques.html +++ b/api/classOpenSoT_1_1constraints_1_1force_1_1NormalTorques.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -245,9 +244,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1constraints_1_1force_1_1StaticConstraint.html b/api/classOpenSoT_1_1constraints_1_1force_1_1StaticConstraint.html index 1c69ea5b..a41763ad 100644 --- a/api/classOpenSoT_1_1constraints_1_1force_1_1StaticConstraint.html +++ b/api/classOpenSoT_1_1constraints_1_1force_1_1StaticConstraint.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • diff --git a/api/classOpenSoT_1_1constraints_1_1force_1_1WrenchLimits.html b/api/classOpenSoT_1_1constraints_1_1force_1_1WrenchLimits.html index 03107bc1..1ea76378 100644 --- a/api/classOpenSoT_1_1constraints_1_1force_1_1WrenchLimits.html +++ b/api/classOpenSoT_1_1constraints_1_1force_1_1WrenchLimits.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -252,8 +251,8 @@

    Class Documentation -
    -void getWrenchLimits(Eigen::VectorXd &lowerLims, Eigen::VectorXd &upperLims) const
    +
    +void getWrenchLimits(Eigen::VectorXd &lowerLims, Eigen::VectorXd &upperLims)

    getWrenchLimits to retrieve internal limits

    Parameters
    diff --git a/api/classOpenSoT_1_1constraints_1_1force_1_1WrenchesLimits.html b/api/classOpenSoT_1_1constraints_1_1force_1_1WrenchesLimits.html index 742858ed..028ceb59 100644 --- a/api/classOpenSoT_1_1constraints_1_1force_1_1WrenchesLimits.html +++ b/api/classOpenSoT_1_1constraints_1_1force_1_1WrenchesLimits.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -296,9 +295,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1constraints_1_1velocity_1_1CartesianPositionConstraint.html b/api/classOpenSoT_1_1constraints_1_1velocity_1_1CartesianPositionConstraint.html index e58695b9..39ad6c6f 100644 --- a/api/classOpenSoT_1_1constraints_1_1velocity_1_1CartesianPositionConstraint.html +++ b/api/classOpenSoT_1_1constraints_1_1velocity_1_1CartesianPositionConstraint.html @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -272,9 +271,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    diff --git a/api/classOpenSoT_1_1constraints_1_1velocity_1_1CartesianVelocity.html b/api/classOpenSoT_1_1constraints_1_1velocity_1_1CartesianVelocity.html index 6c6fe94d..27494fef 100644 --- a/api/classOpenSoT_1_1constraints_1_1velocity_1_1CartesianVelocity.html +++ b/api/classOpenSoT_1_1constraints_1_1velocity_1_1CartesianVelocity.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -256,14 +255,19 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    -const Eigen::VectorXd &getVelocityLimits() const
    +const Eigen::VectorXd &getVelocityLimits() const

    getVelocityLimits

    Returns
    diff --git a/api/classOpenSoT_1_1constraints_1_1velocity_1_1CollisionAvoidance.html b/api/classOpenSoT_1_1constraints_1_1velocity_1_1CollisionAvoidance.html index f79e9d35..dcc7aa7d 100644 --- a/api/classOpenSoT_1_1constraints_1_1velocity_1_1CollisionAvoidance.html +++ b/api/classOpenSoT_1_1constraints_1_1velocity_1_1CollisionAvoidance.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -238,22 +237,12 @@

    Class Documentationtypedef std::pair<std::string, std::string> LinksPair

    -
    -
    -typedef XBot::Collision::CollisionModel::WitnessPointVector WitnessPointVector
    -
    - -
    -
    -typedef XBot::Collision::CollisionModel::LinkPairVector LinkPairVector
    -
    -

    Public Functions

    -
    -CollisionAvoidance(const XBot::ModelInterface &robot, int max_pairs = -1, urdf::ModelConstSharedPtr collision_urdf = nullptr, srdf::ModelConstSharedPtr collision_srdf = nullptr)
    +
    +CollisionAvoidance(const Eigen::VectorXd &x, const XBot::ModelInterface &robot, int max_pairs = -1, urdf::ModelConstSharedPtr collision_urdf = nullptr, srdf::ModelConstSharedPtr collision_srdf = nullptr)

    SelfCollisionAvoidance.

    Parameters
    @@ -279,17 +268,6 @@

    Class Documentation -
    -void getError(Eigen::VectorXd &e)
    -

    getError

    -
    -
    Parameters
    -

    e –

    -
    -
    -

    -
    double getDetectionThreshold()
    @@ -324,116 +302,120 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    update recomputes Aineq and bUpperBound if x is different than the previously stored value

    Parameters
    -

    x – the state vector.

    +

    x – the state vector. It gets cached so that we won’t recompute capsules distances if x didn’t change TODO if the capsules distances are given by a server (i.e. a separate thread updaing capsules at a given rate) then the inelegant caching of x is not needed anymore (notice that, however, it would be nice to have a caching system at the stack level so that, if two tasks in the same stack are constrained by the same constraint, this constraint gets updated only once per stack update)

    -
    -void setMaxPairs(const unsigned int max_pairs)
    -
    - -
    -
    -void setCollisionList(std::set<std::pair<std::string, std::string>> collisionList)
    -
    - -
    -
    -void collisionModelUpdated()
    -

    collisionModelUpdated must be called after a collision has been added or removed from the model

    +
    +bool setCollisionWhiteList(std::list<LinksPair> whiteList)
    +

    setCollisionWhiteList resets the allowed collision matrix by setting all collision pairs as disabled.

    +

    It then disables all collision pairs specified in the blackList. Lastly it will disable all collision pairs which are disabled in the SRDF

    +
    +
    Parameters
    +

    whiteList – a list of links pairs for which to not check collision detection

    +
    +
    Returns
    +

    true on success

    +
    +
    -
    -bool addCollisionShape(const std::string &name, const std::string &link, const XBot::Collision::Shape::Variant &shape, const Eigen::Affine3d &link_T_shape, const std::vector<std::string> &disabled_collisions = {})
    -
    - -
    -
    -bool moveCollisionShape(const std::string &id, const Eigen::Affine3d &new_pose)
    -

    change the transform w.r.t.

    -

    the world for the given world collision

    +
    +bool setCollisionBlackList(std::list<LinksPair> blackList)
    +

    setCollisionBlackList resets the allowed collision matrix by setting all collision pairs (for which collision geometries are avaiable) as enabled.

    +

    It then disables all collision pairs specified in the blackList. Lastly it will disable all collision pairs which are disabled in the SRDF

    +
    +
    Parameters
    +

    blackList – a list of links pairs for which to not check collision detection

    +
    +
    Returns
    +

    true on success

    +
    +
    -
    -void setBoundScaling(const double boundScaling)
    -

    setBoundScaling sets bound scaling for the capsule constraint

    +
    +bool setWorldCollisions(const moveit_msgs::PlanningSceneWorld &wc)
    +

    add/remove world collision objects according to the given planning scene world

    -
    Parameters
    -

    boundScaling – is a number which should be lower than 1.0 (e.g. 1./2. means we are looking two steps ahead and will avoid collision with the capsule by slowing down)

    +
    Returns
    +

    true if all requests (additions, deletions) could be performs succesfully, false on (partial) insuccess

    -
    -void setLinksVsEnvironment(const std::set<std::string> &links)
    -

    setLinksVsEnvironment

    +
    +bool addWorldCollision(const std::string &id, std::shared_ptr<fcl::CollisionObjectd> fcl_obj)
    +

    add single collision to the world

    Parameters
    -

    links –

    +
      +

    • id – is the unique collision id

      • +

    • fcl_obj – is the fcl collision object (geometry + transform)

      • +
    +
    +
    Returns
    +

    true if input is valid

    -
    -XBot::Collision::CollisionModel &getCollisionModel()
    -

    getter for the internal collision model

    +
    +bool removeWorldCollision(const std::string &id)
    +

    remove world collision with given id

    -
    -const XBot::Collision::CollisionModel &getCollisionModel() const
    -

    getter for the internal collision model

    +
    +bool moveWorldCollision(const std::string &id, KDL::Frame new_pose)
    +

    change the transform w.r.t.

    +

    the world for the given world collision

    -
    -void getOrderedWitnessPointVector(WitnessPointVector &wp) const
    -

    get the vector of witness points used by this constraint during the last call to update(), in ascending distance order

    +
    +void setBoundScaling(const double boundScaling)
    +

    setBoundScaling sets bound scaling for the capsule constraint

    Parameters
    -

    wp –

    +

    boundScaling – is a number which should be lower than 1.0 (e.g. 1./2. means we are looking two steps ahead and will avoid collision with the capsule by slowing down)

    -
    -void getOrderedLinkPairVector(LinkPairVector &lp) const
    -

    getOrderedLinkPairVector

    +
    +void setLinksVsEnvironment(const std::list<std::string> &links)
    +

    setLinksVsEnvironment

    Parameters
    -

    lp –

    +

    links –

    -
    -void getOrderedDistanceVector(std::vector<double> &d) const
    -

    getOrderedDistanceVector

    +
    +inline const std::list<LinkPairDistance> &getLinkPairDistances()
    +

    getLinkPairDistances

    -
    Parameters
    -

    d –

    +
    Returns
    +

    list of LinkPairDistance which will be used in the task

    -
    -
    -const Eigen::MatrixXd &getCollisionJacobian() const
    -
    -
    ~CollisionAvoidance()
    @@ -442,12 +424,6 @@

    Class Documentation

    Protected Attributes

    -
    -
    -bool _include_env
    -

    _include_env

    -
    -
    double _bound_scaling
    @@ -478,41 +454,18 @@

    Class Documentation -
    -XBot::ModelInterface::Ptr _collision_model
    -

    -
    -std::unique_ptr<XBot::Collision::CollisionModel> _dist_calc
    +std::unique_ptr<ComputeLinksDistance> _dist_calc

    _dist_calc

    -
    -Eigen::VectorXd _distances
    -
    - -
    -
    -Eigen::MatrixXd _distance_J
    -
    - -
    -
    -int _num_active_pairs
    -
    - -
    -
    -mutable WitnessPointVector _wpv
    -
    - -
    -
    -mutable LinkPairVector _lpv
    -
    +
    +Eigen::VectorXd _x_cache
    +

    _x_cache is a copy of last q vector used to update the constraints.

    +

    It is used in order to avoid multiple updated when the constraint is present in multiple tasks in the same stack. It is a simple speedup waiting for the stack system to support constraint caching - or for idynutils to support some form of cache system

    +

    @@ -520,6 +473,11 @@

    Class Documentation +
    +std::list<LinkPairDistance> _distance_list
    +

    +
    diff --git a/api/classOpenSoT_1_1constraints_1_1velocity_1_1ConvexHull.html b/api/classOpenSoT_1_1constraints_1_1velocity_1_1ConvexHull.html index 6661edc3..cb5c9ef7 100644 --- a/api/classOpenSoT_1_1constraints_1_1velocity_1_1ConvexHull.html +++ b/api/classOpenSoT_1_1constraints_1_1velocity_1_1ConvexHull.html @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -237,8 +236,8 @@

    Class Documentation

    Public Functions

    -
    -ConvexHull(XBot::ModelInterface &robot, const std::list<std::string> &links_in_contact, const double safetyMargin = BOUND_SCALING)
    +
    +ConvexHull(const Eigen::VectorXd &x, XBot::ModelInterface &robot, const std::list<std::string> &links_in_contact, const double safetyMargin = BOUND_SCALING)

    ConvexHull constructor.

    Parameters
    @@ -252,8 +251,8 @@

    Class Documentation -
    -bool getConvexHull(std::vector<Eigen::Vector3d> &ch)
    +
    +bool getConvexHull(std::vector<KDL::Vector> &ch)

    @@ -268,14 +267,19 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    -inline std::list<std::string> getLinksInContact()
    +inline std::list<std::string> getLinksInContact()
    @@ -287,8 +291,8 @@

    Class Documentation

    Public Static Functions

    -
    -static void getConstraints(const std::vector<Eigen::Vector3d> &points, Eigen::MatrixXd &A, Eigen::VectorXd &b, const double boundScaling = BOUND_SCALING)
    +
    +static void getConstraints(const std::vector<KDL::Vector> &points, Eigen::MatrixXd &A, Eigen::VectorXd &b, const double boundScaling = BOUND_SCALING)

    getConstraints returns A and b such that \(A*\delta q < b\) implies staying in the convex hull

    Parameters
    @@ -302,8 +306,8 @@

    Class Documentation -
    -static void getLineCoefficients(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, double &a, double &b, double &c)
    +
    +static void getLineCoefficients(const KDL::Vector &p0, const KDL::Vector &p1, double &a, double &b, double &c)

    getLineCoefficients returns implicit form of the a line passing between p0 and p1

    Parameters
    diff --git a/api/classOpenSoT_1_1constraints_1_1velocity_1_1JointLimits.html b/api/classOpenSoT_1_1constraints_1_1velocity_1_1JointLimits.html index 45db2c76..367d4ad0 100644 --- a/api/classOpenSoT_1_1constraints_1_1velocity_1_1JointLimits.html +++ b/api/classOpenSoT_1_1constraints_1_1velocity_1_1JointLimits.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -236,13 +235,9 @@

    Class Documentation

    Public Functions

    -
    -JointLimits(const XBot::ModelInterface &robot, const Eigen::VectorXd &jointBoundMax, const Eigen::VectorXd &jointBoundMin, const double boundScaling = 1.0)
    +
    +JointLimits(const Eigen::VectorXd &q, const Eigen::VectorXd &jointBoundMax, const Eigen::VectorXd &jointBoundMin, const double boundScaling = 1.0)

    JointLimits constructor.

    -
    -

    Note

    -

    bounds are intended as min/max motions that can be applied for unit time starting from the robot neutral configuration i.e. if q0 = robot.getNeutralQ(), then qf = robot.sum(q0, v) is within joint limits iff jointBoundMax <= v <= jointBoundMax

    -
    Parameters
      @@ -255,9 +250,14 @@

      Class Documentation -
      -virtual void update()
      +
      +virtual void update(const Eigen::VectorXd &x)

      Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

      +
      +
      Parameters
      +

      x – variable state at the current step (input)

      +
      +

    diff --git a/api/classOpenSoT_1_1constraints_1_1velocity_1_1JointLimitsInvariance.html b/api/classOpenSoT_1_1constraints_1_1velocity_1_1JointLimitsInvariance.html index 7fff8292..9ec83425 100644 --- a/api/classOpenSoT_1_1constraints_1_1velocity_1_1JointLimitsInvariance.html +++ b/api/classOpenSoT_1_1constraints_1_1velocity_1_1JointLimitsInvariance.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -237,8 +236,8 @@

    Class Documentation

    Public Functions

    -
    -JointLimitsInvariance(const Eigen::VectorXd &jointBoundMax, const Eigen::VectorXd &jointBoundMin, const Eigen::VectorXd &jointAccMax, XBot::ModelInterface &robot, const double dt)
    +
    +JointLimitsInvariance(const Eigen::VectorXd &q, const Eigen::VectorXd &jointBoundMax, const Eigen::VectorXd &jointBoundMin, const Eigen::VectorXd &jointAccMax, XBot::ModelInterface &robot, const double dt)

    JointLimitsInvariance constructor.

    Note

    @@ -247,6 +246,7 @@

    Class Documentation
    Parameters

    diff --git a/api/classOpenSoT_1_1constraints_1_1velocity_1_1OmniWheels4X.html b/api/classOpenSoT_1_1constraints_1_1velocity_1_1OmniWheels4X.html index 9513c9fe..f39c8a0f 100644 --- a/api/classOpenSoT_1_1constraints_1_1velocity_1_1OmniWheels4X.html +++ b/api/classOpenSoT_1_1constraints_1_1velocity_1_1OmniWheels4X.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -239,8 +238,8 @@

    Class Documentation

    Public Functions

    -
    -OmniWheels4X(const double l1, const double l2, const double r, const std::vector<std::string> joint_wheels_name, const std::string base_link, XBot::ModelInterface &robot)
    +
    +OmniWheels4X(const double l1, const double l2, const double r, const std::vector<std::string> joint_wheels_name, const std::string base_link, const Eigen::VectorXd &x, XBot::ModelInterface &robot)

    OmniWheel4X maps base velocities (XY-YAW) into wheels velocities. 

                                | x
                             |
@@ -283,8 +282,8 @@ 
    Class Documentation
-
    
-virtual void update()
    
+
    
+virtual void update(const Eigen::VectorXd &x)
    
 
    update the constraint 
    
 
    
 
    Parameters
    
diff --git a/api/classOpenSoT_1_1constraints_1_1velocity_1_1VelocityLimits.html b/api/classOpenSoT_1_1constraints_1_1velocity_1_1VelocityLimits.html
index f56601a0..78d03eb1 100644
--- a/api/classOpenSoT_1_1constraints_1_1velocity_1_1VelocityLimits.html
+++ b/api/classOpenSoT_1_1constraints_1_1velocity_1_1VelocityLimits.html
@@ -65,9 +65,14 @@
 
  • Struct stack_level
    • 
 
  • Struct Task::istrue
    • 
 
  • Class cartesian_utils
    • 
+
  • Class ComputeLinksDistance
    • 
+
  • Class ComputeLinksDistance::LinksPair
    • 
 
  • Class convex_hull
    • 
 
  • Class CostFunction
    • 
+
  • Template Class CollisionObject
    • 
+
  • Class GradientVector
    • 
 
  • Template Class LDLTInverse
    • 
+
  • Class LinkPairDistance
    • 
 
  • Template Class AffineHelperBase
    • 
 
  • Class AffineConstraint
    • 
 
  • Class AffineTask
    • 
@@ -130,7 +135,6 @@
 
  • Class MinJointVel
    • 
 
  • Class Postural
    • 
 
  • Class Aggregated
    • 
-
  • Class ConstraintToTask
    • 
 
  • Class Contact
    • 
 
  • Class IMU
    • 
 
  • Class Cartesian
    • 
@@ -144,7 +148,6 @@
 
  • Class AngularMomentum
    • 
 
  • Class Cartesian
    • 
 
  • Class CartesianAdmittance
    • 
-
  • Class CollisionAvoidance
    • 
 
  • Class CoM
    • 
 
  • Class Contact
    • 
 
  • Class Gaze
    • 
@@ -158,16 +161,12 @@
 
  • Class PureRolling
    • 
 
  • Class PureRollingOrientation
    • 
 
  • Class PureRollingPosition
    • 
-
  • Template Class SecondOrderFilter
    • 
-
  • Template Class SecondOrderFilterArray
    • 
+
  • Class ForceOptimization
    • 
 
  • Class InverseDynamics
    • 
 
  • Class MatrixPiler
    • 
 
  • Class Torque
    • 
 
  • Class quaternion
    • 
 
  • Template Class SVDPseudoInverse
    • 
-
  • Class Endl
    • 
-
  • Class Logger
    • 
-
  • Class LoggerClass
    • 
 
 
 
  • Enums
    • 
@@ -236,8 +235,8 @@ 
    Class Documentation
 
    Public Functions
    
 
    
-
    
-VelocityLimits(const XBot::ModelInterface &robot, const double qDotLimit, const double dT)
    
+
    
+VelocityLimits(const double qDotLimit, const double dT, const unsigned int x_size)
    
 
    VelocityLimits constructor. 
    
 
    
 
    Parameters
    
@@ -251,8 +250,8 @@ 
    Class Documentation
-
    
-VelocityLimits(const XBot::ModelInterface &robot, const Eigen::VectorXd &qDotLimit, const double dT)
    
+
    
+VelocityLimits(const Eigen::VectorXd &qDotLimit, const double dT)
    
 
    
 
 
    
diff --git a/api/classOpenSoT_1_1solvers_1_1BackEnd.html b/api/classOpenSoT_1_1solvers_1_1BackEnd.html
index b0ecd4f0..dfed682e 100644
--- a/api/classOpenSoT_1_1solvers_1_1BackEnd.html
+++ b/api/classOpenSoT_1_1solvers_1_1BackEnd.html
@@ -65,9 +65,14 @@
 
  • Struct stack_level
    • 
 
  • Struct Task::istrue
    • 
 
  • Class cartesian_utils
    • 
+
  • Class ComputeLinksDistance
    • 
+
  • Class ComputeLinksDistance::LinksPair
    • 
 
  • Class convex_hull
    • 
 
  • Class CostFunction
    • 
+
  • Template Class CollisionObject
    • 
+
  • Class GradientVector
    • 
 
  • Template Class LDLTInverse
    • 
+
  • Class LinkPairDistance
    • 
 
  • Template Class AffineHelperBase
    • 
 
  • Class AffineConstraint
    • 
 
  • Class AffineTask
    • 
@@ -130,7 +135,6 @@
 
  • Class MinJointVel
    • 
 
  • Class Postural
    • 
 
  • Class Aggregated
    • 
-
  • Class ConstraintToTask
    • 
 
  • Class Contact
    • 
 
  • Class IMU
    • 
 
  • Class Cartesian
    • 
@@ -144,7 +148,6 @@
 
  • Class AngularMomentum
    • 
 
  • Class Cartesian
    • 
 
  • Class CartesianAdmittance
    • 
-
  • Class CollisionAvoidance
    • 
 
  • Class CoM
    • 
 
  • Class Contact
    • 
 
  • Class Gaze
    • 
@@ -158,16 +161,12 @@
 
  • Class PureRolling
    • 
 
  • Class PureRollingOrientation
    • 
 
  • Class PureRollingPosition
    • 
-
  • Template Class SecondOrderFilter
    • 
-
  • Template Class SecondOrderFilterArray
    • 
+
  • Class ForceOptimization
    • 
 
  • Class InverseDynamics
    • 
 
  • Class MatrixPiler
    • 
 
  • Class Torque
    • 
 
  • Class quaternion
    • 
 
  • Template Class SVDPseudoInverse
    • 
-
  • Class Endl
    • 
-
  • Class Logger
    • 
-
  • Class LoggerClass
    • 
 
 
 
  • Enums
    • 
@@ -252,7 +251,7 @@ 
    Class Documentation
 
    
-inline const Eigen::VectorXd &getSolution()
    
+inline const Eigen::VectorXd &getSolution()
    
 
    getSolution return the actual solution of the QP problem 
    
 
    
 
    Returns
    
@@ -263,38 +262,38 @@ 
    Class Documentation
 
    
-inline const Eigen::MatrixXd &getH()
    
+inline const Eigen::MatrixXd &getH()
    
 
    Getters for internal matrices and Eigen::VectorXds. 
    
 
    
 
 
    
 
    
-inline const Eigen::VectorXd &getg()
    
+inline const Eigen::VectorXd &getg()
    
 
    
 
 
    
 
    
-inline const Eigen::MatrixXd &getA()
    
+inline const Eigen::MatrixXd &getA()
    
 
    
 
 
    
 
    
-inline const Eigen::VectorXd &getlA()
    
+inline const Eigen::VectorXd &getlA()
    
 
    
 
 
    
 
    
-inline const Eigen::VectorXd &getuA()
    
+inline const Eigen::VectorXd &getuA()
    
 
    
 
 
    
 
    
-inline const Eigen::VectorXd &getl()
    
+inline const Eigen::VectorXd &getl()
    
 
    
 
 
    
 
    
-inline const Eigen::VectorXd &getu()
    
+inline const Eigen::VectorXd &getu()
    
 
    
 
 
    
diff --git a/api/classOpenSoT_1_1solvers_1_1GLPKBackEnd.html b/api/classOpenSoT_1_1solvers_1_1GLPKBackEnd.html
index 741dd10e..8105ccc5 100644
--- a/api/classOpenSoT_1_1solvers_1_1GLPKBackEnd.html
+++ b/api/classOpenSoT_1_1solvers_1_1GLPKBackEnd.html
@@ -65,9 +65,14 @@
 
  • Struct stack_level
    • 
 
  • Struct Task::istrue
    • 
 
  • Class cartesian_utils
    • 
+
  • Class ComputeLinksDistance
    • 
+
  • Class ComputeLinksDistance::LinksPair
    • 
 
  • Class convex_hull
    • 
 
  • Class CostFunction
    • 
+
  • Template Class CollisionObject
    • 
+
  • Class GradientVector
    • 
 
  • Template Class LDLTInverse
    • 
+
  • Class LinkPairDistance
    • 
 
  • Template Class AffineHelperBase
    • 
 
  • Class AffineConstraint
    • 
 
  • Class AffineTask
    • 
@@ -130,7 +135,6 @@
 
  • Class MinJointVel
    • 
 
  • Class Postural
    • 
 
  • Class Aggregated
    • 
-
  • Class ConstraintToTask
    • 
 
  • Class Contact
    • 
 
  • Class IMU
    • 
 
  • Class Cartesian
    • 
@@ -144,7 +148,6 @@
 
  • Class AngularMomentum
    • 
 
  • Class Cartesian
    • 
 
  • Class CartesianAdmittance
    • 
-
  • Class CollisionAvoidance
    • 
 
  • Class CoM
    • 
 
  • Class Contact
    • 
 
  • Class Gaze
    • 
@@ -158,16 +161,12 @@
 
  • Class PureRolling
    • 
 
  • Class PureRollingOrientation
    • 
 
  • Class PureRollingPosition
    • 
-
  • Template Class SecondOrderFilter
    • 
-
  • Template Class SecondOrderFilterArray
    • 
+
  • Class ForceOptimization
    • 
 
  • Class InverseDynamics
    • 
 
  • Class MatrixPiler
    • 
 
  • Class Torque
    • 
 
  • Class quaternion
    • 
 
  • Template Class SVDPseudoInverse
    • 
-
  • Class Endl
    • 
-
  • Class Logger
    • 
-
  • Class LoggerClass
    • 
 
 
 
  • Enums
    • 
diff --git a/api/classOpenSoT_1_1solvers_1_1HCOD.html b/api/classOpenSoT_1_1solvers_1_1HCOD.html
index 453bbeb1..25406508 100644
--- a/api/classOpenSoT_1_1solvers_1_1HCOD.html
+++ b/api/classOpenSoT_1_1solvers_1_1HCOD.html
@@ -65,9 +65,14 @@
 
  • Struct stack_level
    • 
 
  • Struct Task::istrue
    • 
 
  • Class cartesian_utils
    • 
+
  • Class ComputeLinksDistance
    • 
+
  • Class ComputeLinksDistance::LinksPair
    • 
 
  • Class convex_hull
    • 
 
  • Class CostFunction
    • 
+
  • Template Class CollisionObject
    • 
+
  • Class GradientVector
    • 
 
  • Template Class LDLTInverse
    • 
+
  • Class LinkPairDistance
    • 
 
  • Template Class AffineHelperBase
    • 
 
  • Class AffineConstraint
    • 
 
  • Class AffineTask
    • 
@@ -130,7 +135,6 @@
 
  • Class MinJointVel
    • 
 
  • Class Postural
    • 
 
  • Class Aggregated
    • 
-
  • Class ConstraintToTask
    • 
 
  • Class Contact
    • 
 
  • Class IMU
    • 
 
  • Class Cartesian
    • 
@@ -144,7 +148,6 @@
 
  • Class AngularMomentum
    • 
 
  • Class Cartesian
    • 
 
  • Class CartesianAdmittance
    • 
-
  • Class CollisionAvoidance
    • 
 
  • Class CoM
    • 
 
  • Class Contact
    • 
 
  • Class Gaze
    • 
@@ -158,16 +161,12 @@
 
  • Class PureRolling
    • 
 
  • Class PureRollingOrientation
    • 
 
  • Class PureRollingPosition
    • 
-
  • Template Class SecondOrderFilter
    • 
-
  • Template Class SecondOrderFilterArray
    • 
+
  • Class ForceOptimization
    • 
 
  • Class InverseDynamics
    • 
 
  • Class MatrixPiler
    • 
 
  • Class Torque
    • 
 
  • Class quaternion
    • 
 
  • Template Class SVDPseudoInverse
    • 
-
  • Class Endl
    • 
-
  • Class Logger
    • 
-
  • Class LoggerClass
    • 
 
 
 
  • Enums
    • 
@@ -291,7 +290,7 @@ 
    Class Documentation
 
    
-std::shared_ptr<soth::HCOD> getInternalSolver()
    
+std::shared_ptr<soth::HCOD> getInternalSolver()
    
 
    getInternalSolver 
    
 
    
 
    Returns
    
@@ -312,9 +311,9 @@ 
    Class Documentation
-
    
-bool getDisableWeightsComputation()
    
-
    getDisableWeightsComputation 
    
+
    
+bool setDisableWeightsComputation()
    
+
    setDisableWeightsComputation 
    
 
    
 
    Returns
    
 
    internal disable_weights_computation 
    
diff --git a/api/classOpenSoT_1_1solvers_1_1Iterator.html b/api/classOpenSoT_1_1solvers_1_1Iterator.html
index bec7d5a9..5d8c5a1e 100644
--- a/api/classOpenSoT_1_1solvers_1_1Iterator.html
+++ b/api/classOpenSoT_1_1solvers_1_1Iterator.html
@@ -65,9 +65,14 @@
 
  • Struct stack_level
    • 
 
  • Struct Task::istrue
    • 
 
  • Class cartesian_utils
    • 
+
  • Class ComputeLinksDistance
    • 
+
  • Class ComputeLinksDistance::LinksPair
    • 
 
  • Class convex_hull
    • 
 
  • Class CostFunction
    • 
+
  • Template Class CollisionObject
    • 
+
  • Class GradientVector
    • 
 
  • Template Class LDLTInverse
    • 
+
  • Class LinkPairDistance
    • 
 
  • Template Class AffineHelperBase
    • 
 
  • Class AffineConstraint
    • 
 
  • Class AffineTask
    • 
@@ -130,7 +135,6 @@
 
  • Class MinJointVel
    • 
 
  • Class Postural
    • 
 
  • Class Aggregated
    • 
-
  • Class ConstraintToTask
    • 
 
  • Class Contact
    • 
 
  • Class IMU
    • 
 
  • Class Cartesian
    • 
@@ -144,7 +148,6 @@
 
  • Class AngularMomentum
    • 
 
  • Class Cartesian
    • 
 
  • Class CartesianAdmittance
    • 
-
  • Class CollisionAvoidance
    • 
 
  • Class CoM
    • 
 
  • Class Contact
    • 
 
  • Class Gaze
    • 
@@ -158,16 +161,12 @@
 
  • Class PureRolling
    • 
 
  • Class PureRollingOrientation
    • 
 
  • Class PureRollingPosition
    • 
-
  • Template Class SecondOrderFilter
    • 
-
  • Template Class SecondOrderFilterArray
    • 
+
  • Class ForceOptimization
    • 
 
  • Class InverseDynamics
    • 
 
  • Class MatrixPiler
    • 
 
  • Class Torque
    • 
 
  • Class quaternion
    • 
 
  • Template Class SVDPseudoInverse
    • 
-
  • Class Endl
    • 
-
  • Class Logger
    • 
-
  • Class LoggerClass
    • 
 
 
 
  • Enums
    • 
diff --git a/api/classOpenSoT_1_1solvers_1_1OSQPBackEnd.html b/api/classOpenSoT_1_1solvers_1_1OSQPBackEnd.html
index 0bce31f2..2c104381 100644
--- a/api/classOpenSoT_1_1solvers_1_1OSQPBackEnd.html
+++ b/api/classOpenSoT_1_1solvers_1_1OSQPBackEnd.html
@@ -65,9 +65,14 @@
 
  • Struct stack_level
    • 
 
  • Struct Task::istrue
    • 
 
  • Class cartesian_utils
    • 
+
  • Class ComputeLinksDistance
    • 
+
  • Class ComputeLinksDistance::LinksPair
    • 
 
  • Class convex_hull
    • 
 
  • Class CostFunction
    • 
+
  • Template Class CollisionObject
    • 
+
  • Class GradientVector
    • 
 
  • Template Class LDLTInverse
    • 
+
  • Class LinkPairDistance
    • 
 
  • Template Class AffineHelperBase
    • 
 
  • Class AffineConstraint
    • 
 
  • Class AffineTask
    • 
@@ -130,7 +135,6 @@
 
  • Class MinJointVel
    • 
 
  • Class Postural
    • 
 
  • Class Aggregated
    • 
-
  • Class ConstraintToTask
    • 
 
  • Class Contact
    • 
 
  • Class IMU
    • 
 
  • Class Cartesian
    • 
@@ -144,7 +148,6 @@
 
  • Class AngularMomentum
    • 
 
  • Class Cartesian
    • 
 
  • Class CartesianAdmittance
    • 
-
  • Class CollisionAvoidance
    • 
 
  • Class CoM
    • 
 
  • Class Contact
    • 
 
  • Class Gaze
    • 
@@ -158,16 +161,12 @@
 
  • Class PureRolling
    • 
 
  • Class PureRollingOrientation
    • 
 
  • Class PureRollingPosition
    • 
-
  • Template Class SecondOrderFilter
    • 
-
  • Template Class SecondOrderFilterArray
    • 
+
  • Class ForceOptimization
    • 
 
  • Class InverseDynamics
    • 
 
  • Class MatrixPiler
    • 
 
  • Class Torque
    • 
 
  • Class quaternion
    • 
 
  • Template Class SVDPseudoInverse
    • 
-
  • Class Endl
    • 
-
  • Class Logger
    • 
-
  • Class LoggerClass
    • 
 
 
 
  • Enums
    • 
diff --git a/api/classOpenSoT_1_1solvers_1_1QPOasesBackEnd.html b/api/classOpenSoT_1_1solvers_1_1QPOasesBackEnd.html
index 58cf661d..d55f628e 100644
--- a/api/classOpenSoT_1_1solvers_1_1QPOasesBackEnd.html
+++ b/api/classOpenSoT_1_1solvers_1_1QPOasesBackEnd.html
@@ -65,9 +65,14 @@
 
  • Struct stack_level
    • 
 
  • Struct Task::istrue
    • 
 
  • Class cartesian_utils
    • 
+
  • Class ComputeLinksDistance
    • 
+
  • Class ComputeLinksDistance::LinksPair
    • 
 
  • Class convex_hull
    • 
 
  • Class CostFunction
    • 
+
  • Template Class CollisionObject
    • 
+
  • Class GradientVector
    • 
 
  • Template Class LDLTInverse
    • 
+
  • Class LinkPairDistance
    • 
 
  • Template Class AffineHelperBase
    • 
 
  • Class AffineConstraint
    • 
 
  • Class AffineTask
    • 
@@ -130,7 +135,6 @@
 
  • Class MinJointVel
    • 
 
  • Class Postural
    • 
 
  • Class Aggregated
    • 
-
  • Class ConstraintToTask
    • 
 
  • Class Contact
    • 
 
  • Class IMU
    • 
 
  • Class Cartesian
    • 
@@ -144,7 +148,6 @@
 
  • Class AngularMomentum
    • 
 
  • Class Cartesian
    • 
 
  • Class CartesianAdmittance
    • 
-
  • Class CollisionAvoidance
    • 
 
  • Class CoM
    • 
 
  • Class Contact
    • 
 
  • Class Gaze
    • 
@@ -158,16 +161,12 @@
 
  • Class PureRolling
    • 
 
  • Class PureRollingOrientation
    • 
 
  • Class PureRollingPosition
    • 
-
  • Template Class SecondOrderFilter
    • 
-
  • Template Class SecondOrderFilterArray
    • 
+
  • Class ForceOptimization
    • 
 
  • Class InverseDynamics
    • 
 
  • Class MatrixPiler
    • 
 
  • Class Torque
    • 
 
  • Class quaternion
    • 
 
  • Template Class SVDPseudoInverse
    • 
-
  • Class Endl
    • 
-
  • Class Logger
    • 
-
  • Class LoggerClass
    • 
 
 
 
  • Enums
    • 
@@ -259,7 +258,7 @@ 
    Class Documentation
 
    
-inline const std::shared_ptr<qpOASES::SQProblem> &getProblem()
    
+inline const std::shared_ptr<qpOASES::SQProblem> &getProblem()
    
 
    getProblem return the internal QP problem 
    
 
    
 
    Returns
    
@@ -410,7 +409,7 @@ 
    Class Documentation
 
    
-inline const qpOASES::Bounds &getActiveBounds()
    
+inline const qpOASES::Bounds &getActiveBounds()
    
 
    getActiveBounds return the active bounds of the solved QP problem 
    
 
    
 
    Returns
    
@@ -421,7 +420,7 @@ 
    Class Documentation
 
    
-inline const qpOASES::Constraints &getActiveConstraints()
    
+inline const qpOASES::Constraints &getActiveConstraints()
    
 
    getActiveConstraints return the active constraints of the solved QP problem 
    
 
    
 
    Returns
    
diff --git a/api/classOpenSoT_1_1solvers_1_1constraint__helper.html b/api/classOpenSoT_1_1solvers_1_1constraint__helper.html
index b393a4b6..01611dcf 100644
--- a/api/classOpenSoT_1_1solvers_1_1constraint__helper.html
+++ b/api/classOpenSoT_1_1solvers_1_1constraint__helper.html
@@ -65,9 +65,14 @@
 
  • Struct stack_level
    • 
 
  • Struct Task::istrue
    • 
 
  • Class cartesian_utils
    • 
+
  • Class ComputeLinksDistance
    • 
+
  • Class ComputeLinksDistance::LinksPair
    • 
 
  • Class convex_hull
    • 
 
  • Class CostFunction
    • 
+
  • Template Class CollisionObject
    • 
+
  • Class GradientVector
    • 
 
  • Template Class LDLTInverse
    • 
+
  • Class LinkPairDistance
    • 
 
  • Template Class AffineHelperBase
    • 
 
  • Class AffineConstraint
    • 
 
  • Class AffineTask
    • 
@@ -130,7 +135,6 @@
 
  • Class MinJointVel
    • 
 
  • Class Postural
    • 
 
  • Class Aggregated
    • 
-
  • Class ConstraintToTask
    • 
 
  • Class Contact
    • 
 
  • Class IMU
    • 
 
  • Class Cartesian
    • 
@@ -144,7 +148,6 @@
 
  • Class AngularMomentum
    • 
 
  • Class Cartesian
    • 
 
  • Class CartesianAdmittance
    • 
-
  • Class CollisionAvoidance
    • 
 
  • Class CoM
    • 
 
  • Class Contact
    • 
 
  • Class Gaze
    • 
@@ -158,16 +161,12 @@
 
  • Class PureRolling
    • 
 
  • Class PureRollingOrientation
    • 
 
  • Class PureRollingPosition
    • 
-
  • Template Class SecondOrderFilter
    • 
-
  • Template Class SecondOrderFilterArray
    • 
+
  • Class ForceOptimization
    • 
 
  • Class InverseDynamics
    • 
 
  • Class MatrixPiler
    • 
 
  • Class Torque
    • 
 
  • Class quaternion
    • 
 
  • Template Class SVDPseudoInverse
    • 
-
  • Class Endl
    • 
-
  • Class Logger
    • 
-
  • Class LoggerClass
    • 
 
 
 
  • Enums
    • 
@@ -240,9 +239,14 @@ 
    Class Documentation
-
    
-virtual void update()
    
+
    
+virtual void update(const Eigen::VectorXd &x)
    
 
    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices. 
    
+
    
+
    Parameters
    
+
    x – variable state at the current step (input) 
    
+
    
+
    diff --git a/api/classOpenSoT_1_1solvers_1_1eHQP.html b/api/classOpenSoT_1_1solvers_1_1eHQP.html index 9d6306ab..aca42786 100644 --- a/api/classOpenSoT_1_1solvers_1_1eHQP.html +++ b/api/classOpenSoT_1_1solvers_1_1eHQP.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • diff --git a/api/classOpenSoT_1_1solvers_1_1eiQuadProgBackEnd.html b/api/classOpenSoT_1_1solvers_1_1eiQuadProgBackEnd.html index bba6f5d4..61444b3f 100644 --- a/api/classOpenSoT_1_1solvers_1_1eiQuadProgBackEnd.html +++ b/api/classOpenSoT_1_1solvers_1_1eiQuadProgBackEnd.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • diff --git a/api/classOpenSoT_1_1solvers_1_1iHQP.html b/api/classOpenSoT_1_1solvers_1_1iHQP.html index 9470b312..840e218a 100644 --- a/api/classOpenSoT_1_1solvers_1_1iHQP.html +++ b/api/classOpenSoT_1_1solvers_1_1iHQP.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -599,7 +598,7 @@

    Class Documentation
    -OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr _regularisation_task
    +OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr _regularisation_task

    diff --git a/api/classOpenSoT_1_1solvers_1_1l1HQP.html b/api/classOpenSoT_1_1solvers_1_1l1HQP.html index 35476170..cd8ba00b 100644 --- a/api/classOpenSoT_1_1solvers_1_1l1HQP.html +++ b/api/classOpenSoT_1_1solvers_1_1l1HQP.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -281,8 +280,8 @@

    Class Documentation
    -inline const std::shared_ptr<AutoStack> &getInternalProblem()
    -

    getInternalProblem(), getConstraints(), getHardConstraints(), getTasks() and getPriorityConstraints() are ONLY for debugging

    +inline const std::shared_ptr<AutoStack> &getInternalProblem()
    +

    getInternalProblem(), getConstraints(), getHardConstraints(), getTasks() and getPriorityConstraints() are ONLY for debugging

    Returns

    @@ -292,22 +291,22 @@

    Class Documentation
    -inline const std::map<std::string, task_to_constraint_helper::Ptr> &getConstraints()
    +inline const std::map<std::string, task_to_constraint_helper::Ptr> &getConstraints()

    -inline const constraint_helper::Ptr &getHardConstraints()
    +inline const constraint_helper::Ptr &getHardConstraints()
    -inline const std::map<std::string, OpenSoT::tasks::GenericLPTask::Ptr> &getTasks()
    +inline const std::map<std::string, OpenSoT::tasks::GenericLPTask::Ptr> &getTasks()
    -inline const std::vector<priority_constraint::Ptr> &getPriorityConstraints()
    +inline const std::vector<priority_constraint::Ptr> &getPriorityConstraints()
    diff --git a/api/classOpenSoT_1_1solvers_1_1nHQP.html b/api/classOpenSoT_1_1solvers_1_1nHQP.html index c8459d5e..ef0bdc4b 100644 --- a/api/classOpenSoT_1_1solvers_1_1nHQP.html +++ b/api/classOpenSoT_1_1solvers_1_1nHQP.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • diff --git a/api/classOpenSoT_1_1solvers_1_1nHQP_1_1TaskData.html b/api/classOpenSoT_1_1solvers_1_1nHQP_1_1TaskData.html index 1bd90ed0..153927fc 100644 --- a/api/classOpenSoT_1_1solvers_1_1nHQP_1_1TaskData.html +++ b/api/classOpenSoT_1_1solvers_1_1nHQP_1_1TaskData.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -264,12 +263,12 @@

    Class Documentation
    -const Eigen::MatrixXd &get_nullspace() const
    +const Eigen::MatrixXd &get_nullspace() const

    -const Eigen::VectorXd &get_solution() const
    +const Eigen::VectorXd &get_solution() const
    diff --git a/api/classOpenSoT_1_1solvers_1_1priority__constraint.html b/api/classOpenSoT_1_1solvers_1_1priority__constraint.html index 4ef4e8e6..5c56cd50 100644 --- a/api/classOpenSoT_1_1solvers_1_1priority__constraint.html +++ b/api/classOpenSoT_1_1solvers_1_1priority__constraint.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -244,9 +243,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1solvers_1_1proxQPBackEnd.html b/api/classOpenSoT_1_1solvers_1_1proxQPBackEnd.html index 9b8959be..e3bbd1c1 100644 --- a/api/classOpenSoT_1_1solvers_1_1proxQPBackEnd.html +++ b/api/classOpenSoT_1_1solvers_1_1proxQPBackEnd.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • diff --git a/api/classOpenSoT_1_1solvers_1_1qpSWIFTBackEnd.html b/api/classOpenSoT_1_1solvers_1_1qpSWIFTBackEnd.html index bf0d19f9..1e10d155 100644 --- a/api/classOpenSoT_1_1solvers_1_1qpSWIFTBackEnd.html +++ b/api/classOpenSoT_1_1solvers_1_1qpSWIFTBackEnd.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • diff --git a/api/classOpenSoT_1_1solvers_1_1task__to__constraint__helper.html b/api/classOpenSoT_1_1solvers_1_1task__to__constraint__helper.html index 02222ed1..8fa784a1 100644 --- a/api/classOpenSoT_1_1solvers_1_1task__to__constraint__helper.html +++ b/api/classOpenSoT_1_1solvers_1_1task__to__constraint__helper.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -251,9 +250,14 @@

    Class Documentation -
    -virtual void update()
    +
    +virtual void update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1tasks_1_1Aggregated.html b/api/classOpenSoT_1_1tasks_1_1Aggregated.html index bb28f7ea..96bbc6e7 100644 --- a/api/classOpenSoT_1_1tasks_1_1Aggregated.html +++ b/api/classOpenSoT_1_1tasks_1_1Aggregated.html @@ -21,7 +21,7 @@ - + @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -225,8 +224,8 @@

    Class Documentation
    class Aggregated : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>
    -

    The Aggregated class builds a new Task by piling up simpler tasks so that \(A = [A_1; A_2]\), \(b=[b_1;b_2]\) If the tasks are modified (through their methods, or constraints are added to the tasks), the Aggregated gets updated accordingly (after calling the _update() function), and during the update it will automatically call update() on every single task of which is comprised.

    -

    Updating an Aggregated calls the update method for the corresponding father task which it reduces, and recreates the reduced A,b and Weight matrices. It is possible to add constraints to the Aggregated task which are not constraints to the Tasks of which it is comprised. Take a look at getConstraints(), getAggregatedConstraints(), getOwnConstraints() for more infos. Notice that setLambda will change the lambda of all the internal tasks but if one of these lambda is changed outside this will be not visible in the aggregated

    +

    The Aggregated class builds a new Task by piling up simpler tasks so that \(A = [A_1; A_2]\), \(b=[b_1;b_2]\) If the tasks are modified (through their methods, or constraints are added to the tasks), the Aggregated gets updated accordingly (after calling the _update() function), and during the update it will automatically call update() on every single task of which is comprised.

    +

    Updating an Aggregated calls the update method for the corresponding father task which it reduces, and recreates the reduced A,b and Weight matrices. It is possible to add constraints to the Aggregated task which are not constraints to the Tasks of which it is comprised. Take a look at getConstraints(), getAggregatedConstraints(), getOwnConstraints() for more infos. Notice that setLambda will change the lambda of all the internal tasks but if one of these lambda is changed outside this will be not visible in the aggregated

    Public Types

    @@ -250,7 +249,7 @@

    Class DocumentationParameters

    @@ -265,7 +264,7 @@

    Class Documentation

    • task1 – a pointer to the first Task to aggregate

    • task2 – a pointer to the second Task to aggregate

      • -

    • x_size – the size of the input vector. Notice this constructor will NOT call update() on the base tasks

      • +

    • x_size – the size of the input vector. Notice this constructor will NOT call update() on the base tasks

    @@ -279,7 +278,21 @@

    Class DocumentationParameters

    • task – a pointer to the Task to aggregate

      • -

    • x_size – the size of the input vector. Notice this constructor will NOT call update() on the base tasks

      • +

    • x_size – the size of the input vector. Notice this constructor will NOT call update() on the base tasks

      • +
    +
    +

    +
    + +
    +
    +Aggregated(const std::list<TaskPtr> tasks, const Eigen::VectorXd &q)
    +

    Aggregated.

    +
    +
    Parameters
    +
      +

    • bounds – a std::list of Tasks

      • +

    • q – the vector of q at which to create the Aggregated task Notice that by specifying q, the Aggregated will automatically call update(q) on all tasks he is composed of

    @@ -291,16 +304,21 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    -inline std::list<ConstraintPtr> &getOwnConstraints()
    +inline std::list<ConstraintPtr> &getOwnConstraints()

    getConstraints return a reference to the constraint list.

    -

    Use the standard list methods to add to the constraints list. i.e.: task.getConstraints().push_back(new_constraint) Notice that the constraints that getConstraints returns are regenerated after each call to the _update() function. A simple check is made before regenerating the constraints, so that if a new constraints gets added to the list before the update, if the constraint is added with a push_back (i.e., at the back of the list), it will be copied to the ownConstraints list of constraints permanently. Notice however that adding constraints in this way is not considered efficient, you should directly add them to the ownConstraints list, by calling, i.e.: task.getOwnConstraints().push_back(new_constraint) If you want to remove constraints which are not ownConstraints, please remove them from the Tasks of which the Aggregated

    is composed from.

    +

    Use the standard list methods to add to the constraints list. i.e.: task.getConstraints().push_back(new_constraint) Notice that the constraints that getConstraints returns are regenerated after each call to the _update() function. A simple check is made before regenerating the constraints, so that if a new constraints gets added to the list before the update, if the constraint is added with a push_back (i.e., at the back of the list), it will be copied to the ownConstraints list of constraints permanently. Notice however that adding constraints in this way is not considered efficient, you should directly add them to the ownConstraints list, by calling, i.e.: task.getOwnConstraints().push_back(new_constraint) If you want to remove constraints which are not ownConstraints, please remove them from the Tasks of which the Aggregated

    is composed from.

    getOwnConstraints return a reference to the

    Aggregated task own constraints list. The ownConstraints list is used together with all the constraints of every task to generate the final constraints list. Use the standard list methods to add, remove, clear, … the constraints list. e.g.: task.getConstraints().push_back(new_constraint)

    @@ -315,9 +333,9 @@

    Class Documentation
    -inline const std::list<ConstraintPtr> &getAggregatedConstraints()
    +inline const std::list<ConstraintPtr> &getAggregatedConstraints()

    getAggregatedConstraints return a reference to the aggregation of the tasks constraint list.

    -

    The list cannot be modified, as it is generated starting from all the constraints. If you need to modify this list, you can do it indirectly by modifying the list of constraints of the tasks that compose this Aggregated, and calling _update() on the Aggregated

    +

    The list cannot be modified, as it is generated starting from all the constraints. If you need to modify this list, you can do it indirectly by modifying the list of constraints of the tasks that compose this Aggregated, and calling _update() on the Aggregated

    Returns

    the list composed of the constraints for all the tasks included in this Aggregated

    @@ -327,7 +345,7 @@

    Class Documentation
    -inline const std::list<TaskPtr> &getTaskList()
    +inline const std::list<TaskPtr> &getTaskList()

    @@ -389,7 +407,16 @@

    Class Documentation HessianType computeHessianType()

    computeHessianType compute the new Hessian type associated to the Aggregated version of the Tasks.

    -

    In OpenSoT, all the considered Hessians \(H\) are in particular Hermitians and positive semidefinite/definite. Let consider two matrices \(A\) and \(B\) with Hessians \(H_A = A^TA\) and \(H_B=B^TB\), the Aggregated Task \(C\) is computed as: \( \begin{equation} C = \left[A^T \quad B^T\right]^T \end{equation} \) and the associated Hessian \(H_C\) is computed as: \( \begin{equation} H_C = \left[A^T \quad B^T\right]\left[A^T \quad B^T\right]^T \\ = A^TA + B^TB = H_A + H_B \end{equation} \) In general for an arbitrary number of tasks we can say \(H_{Agg} = \displaystyle\sum_{i}^{n} H_i\). Therefore the problem of determine the new Hessian type for the Aggregated Task can be considered as the problem to determine the Hessian type of the sum of different matrices with known Hessian type. Observation: The sum of any two positive definite matrices of the same size is positive definite. More generally, any nonnegative linear combination of positive semidefinite matrices is positive semidefinite (Roger A. Horn and Charles R. Johnson, Matrix Analysis, Cambridge University Press, 1996, p.398). With these considerations in mind, the method will return: HST_UNKNOWN if at least one of the Hessians in HST_UNKNOWN HST_ZERO if all the Hessians are HST_ZERO HST_POSDEF if at least one Hessian is HST_POSDEF (and none HST_UNKNOWN) HST_SEMIDEF if all one Hessian is HST_SEMIDEF (and none HST_UNKNOWN)

    +

    In OpenSoT, all the considered Hessians \(H\) are in particular Hermitians and positive semidefinite/definite. Let consider two matrices \(A\) and \(B\) with Hessians \(H_A = A^TA\) and \(H_B=B^TB\), the Aggregated Task \(C\) is computed as: \( + \begin{equation} + C = \left[A^T \quad B^T\right]^T + \end{equation} +\) and the associated Hessian \(H_C\) is computed as: \( + \begin{equation} + H_C = \left[A^T \quad B^T\right]\left[A^T \quad B^T\right]^T \\ + = A^TA + B^TB = H_A + H_B + \end{equation} +\) In general for an arbitrary number of tasks we can say \(H_{Agg} = \displaystyle\sum_{i}^{n} H_i\). Therefore the problem of determine the new Hessian type for the Aggregated Task can be considered as the problem to determine the Hessian type of the sum of different matrices with known Hessian type. Observation: The sum of any two positive definite matrices of the same size is positive definite. More generally, any nonnegative linear combination of positive semidefinite matrices is positive semidefinite (Roger A. Horn and Charles R. Johnson, Matrix Analysis, Cambridge University Press, 1996, p.398). With these considerations in mind, the method will return: HST_UNKNOWN if at least one of the Hessians in HST_UNKNOWN HST_ZERO if all the Hessians are HST_ZERO HST_POSDEF if at least one Hessian is HST_POSDEF (and none HST_UNKNOWN) HST_SEMIDEF if all one Hessian is HST_SEMIDEF (and none HST_UNKNOWN)

    TO DO: Take in consideration also \(\beta\) and \(\W\)!

    Returns
    @@ -479,7 +506,7 @@

    Class Documentation - +
    diff --git a/api/classOpenSoT_1_1tasks_1_1GenericLPTask.html b/api/classOpenSoT_1_1tasks_1_1GenericLPTask.html index ad7f522f..1688e1b4 100644 --- a/api/classOpenSoT_1_1tasks_1_1GenericLPTask.html +++ b/api/classOpenSoT_1_1tasks_1_1GenericLPTask.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -271,9 +270,14 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1tasks_1_1GenericTask.html b/api/classOpenSoT_1_1tasks_1_1GenericTask.html index 8d94cd20..940a73bd 100644 --- a/api/classOpenSoT_1_1tasks_1_1GenericTask.html +++ b/api/classOpenSoT_1_1tasks_1_1GenericTask.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -273,9 +272,14 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1tasks_1_1MinimizeVariable.html b/api/classOpenSoT_1_1tasks_1_1MinimizeVariable.html index 82751c67..6bff0b80 100644 --- a/api/classOpenSoT_1_1tasks_1_1MinimizeVariable.html +++ b/api/classOpenSoT_1_1tasks_1_1MinimizeVariable.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -245,9 +244,14 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1tasks_1_1acceleration_1_1AngularMomentum.html b/api/classOpenSoT_1_1tasks_1_1acceleration_1_1AngularMomentum.html index 795cde81..9d10c5f5 100644 --- a/api/classOpenSoT_1_1tasks_1_1acceleration_1_1AngularMomentum.html +++ b/api/classOpenSoT_1_1tasks_1_1acceleration_1_1AngularMomentum.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -300,7 +299,7 @@

    Class Documentation
    -const Eigen::Matrix3d &getMomentumGain() const
    +const Eigen::Matrix3d &getMomentumGain() const

    getMomentumGain retrieve internal momentum gain

    Returns
    @@ -336,7 +335,7 @@

    Class Documentation
    -const std::string &getBaseLink() const
    +const std::string &getBaseLink() const

    getBaseLink

    Returns
    @@ -347,7 +346,7 @@

    Class Documentation
    -const std::string &getDistalLink() const
    +const std::string &getDistalLink() const

    getDistalLink

    Returns
    @@ -356,17 +355,6 @@

    Class Documentation -
    -virtual bool reset()
    -

    reset position reference to actual, velcoity and accelration to 0

    -
    -
    Returns
    -

    true

    -
    -
    -

    -

    Public Static Functions

    diff --git a/api/classOpenSoT_1_1tasks_1_1acceleration_1_1Cartesian.html b/api/classOpenSoT_1_1tasks_1_1acceleration_1_1Cartesian.html index 5bda9c8f..36504e16 100644 --- a/api/classOpenSoT_1_1tasks_1_1acceleration_1_1Cartesian.html +++ b/api/classOpenSoT_1_1tasks_1_1acceleration_1_1Cartesian.html @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -236,8 +235,8 @@

    Class Documentation

    Public Functions

    -
    -Cartesian(const std::string task_id, const XBot::ModelInterface &robot, const std::string &distal_link, const std::string &base_link)
    +
    +Cartesian(const std::string task_id, const Eigen::VectorXd &x, const XBot::ModelInterface &robot, const std::string &distal_link, const std::string &base_link)
    @@ -257,19 +256,19 @@

    Class Documentation
    -const std::string &getBaseLink() const
    +const std::string &getBaseLink() const

    -const std::string &getDistalLink() const
    +const std::string &getDistalLink() const
    void setPositionReference(const Eigen::Vector3d &pos_ref)

    setReference sets a new reference for the Cartesian task.

    -

    The task error IS NOT recomputed immediately, you need to call the _update(x) function Notice how the setReference(…) needs to be called before each _update(x) of the Cartesian task, since THE _update() RESETS THE FEED-FORWARD VELOCITY and ACCELERATION TERMS for safety reasons.

    +

    The task error IS NOT recomputed immediately, you need to call the _update(x) function Notice how the setReference(…) needs to be called before each _update(x) of the Cartesian task, since THE _update() RESETS THE FEED-FORWARD VELOCITY and ACCELERATION TERMS for safety reasons.

    Parameters
    -
    -void getReference(KDL::Frame &ref) const
    +
    +void getReference(KDL::Frame &ref)
    -
    -void getReference(Eigen::Affine3d &desiredPose, Eigen::Vector6d &desiredTwist) const
    +
    +void getReference(Eigen::Affine3d &desiredPose, Eigen::Vector6d &desiredTwist)
    -
    -void getReference(KDL::Frame &desiredPose, KDL::Twist &desiredTwist) const
    +
    +void getReference(KDL::Frame &desiredPose, KDL::Twist &desiredTwist)
    -
    -void getReference(Eigen::Affine3d &desiredPose, Eigen::Vector6d &desiredTwist, Eigen::Vector6d &desiredAcceleration) const
    +
    +void getReference(Eigen::Affine3d &desiredPose, Eigen::Vector6d &desiredTwist, Eigen::Vector6d &desiredAcceleration)
    -
    -void getReference(KDL::Frame &desiredPose, KDL::Twist &desiredTwist, KDL::Twist &desiredAcceleration) const
    +
    +void getReference(KDL::Frame &desiredPose, KDL::Twist &desiredTwist, KDL::Twist &desiredAcceleration)
    -const Eigen::Vector6d &getCachedVelocityReference() const
    -

    getCachedVelocityReference can be used to get Velocity reference after update(), it will reset next update()

    +const Eigen::Vector6d &getCachedVelocityReference() const
    +

    getCachedVelocityReference can be used to get Velocity reference after update(), it will reset next update()

    Returns

    internal velcity reference

    @@ -370,8 +369,8 @@

    Class Documentation
    -const Eigen::Vector6d &getCachedAccelerationReference() const
    -

    getCachedAccelerationReference can be used to get Velocity reference after update(), it will reset next update()

    +const Eigen::Vector6d &getCachedAccelerationReference() const
    +

    getCachedAccelerationReference can be used to get Velocity reference after update(), it will reset next update()

    Returns

    internal acceleration reference

    @@ -381,8 +380,8 @@

    Class Documentation
    -const Eigen::Vector6d &getCachedVirtualForceReference() const
    -

    getCachedVirtualForceReference can be used to get virtual force reference after update(), it will reset next update()

    +const Eigen::Vector6d &getCachedVirtualForceReference() const
    +

    getCachedVirtualForceReference can be used to get virtual force reference after update(), it will reset next update()

    Returns

    internal virtual force reference

    @@ -391,13 +390,8 @@

    Class Documentation -
    -const Eigen::Affine3d &getActualPose() const
    -

    - -
    -
    -void getActualPose(Eigen::Affine3d &actual) const
    +
    +void getActualPose(Eigen::Affine3d &actual)
    @@ -406,13 +400,8 @@

    Class Documentation -
    -const Eigen::Vector6d &getActualTwist() const
    -

    - -
    -
    -void getActualTwist(Eigen::Vector6d &actual) const
    +
    +void getActualTwist(Eigen::Vector6d &actual)
    @@ -432,6 +421,28 @@

    Class Documentation +
    +virtual void _update(const Eigen::VectorXd &x)
    +

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    +

    + +
    +
    +virtual void _log(XBot::MatLogger2::Ptr logger)
    +

    _log can be used to log internal Task variables

    +
    +
    Parameters
    +

    logger – a shared pointer to a MatLogger

    +
    +
    +
    +
    void setLambda(double lambda1, double lambda2)
    @@ -549,7 +560,7 @@

    Class Documentation
    -const Eigen::Matrix6d &getKp() const
    +const Eigen::Matrix6d &getKp() const

    getKp

    Returns
    @@ -560,7 +571,7 @@

    Class Documentation
    -const Eigen::Matrix6d &getKd() const
    +const Eigen::Matrix6d &getKd() const

    getKd

    Returns
    @@ -585,7 +596,7 @@

    Class Documentation
    -const Eigen::Vector6d &getError() const
    +const Eigen::Vector6d &getError() const

    getError returns the 6d cartesian error (position and orientation) between actual and reference pose

    Returns
    @@ -596,7 +607,7 @@

    Class Documentation
    -const Eigen::Vector6d &getVelocityError() const
    +const Eigen::Vector6d &getVelocityError() const

    diff --git a/api/classOpenSoT_1_1tasks_1_1acceleration_1_1CoM.html b/api/classOpenSoT_1_1tasks_1_1acceleration_1_1CoM.html index a6b157f1..e22468a8 100644 --- a/api/classOpenSoT_1_1tasks_1_1acceleration_1_1CoM.html +++ b/api/classOpenSoT_1_1tasks_1_1acceleration_1_1CoM.html @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -238,12 +237,15 @@

    Class Documentation

    Public Functions

    -
    -CoM(const XBot::ModelInterface &robot)
    +
    +CoM(const XBot::ModelInterface &robot, const Eigen::VectorXd &x)

    CoM.

    Parameters
    -

    robot – the robot model

    +
      +

    • robot – the robot model

      • +

    • x – vector of size of joints of the robot (not used anymore)

      • +
    @@ -264,7 +266,7 @@

    Class Documentation
    -const std::string &getBaseLink() const
    +const std::string &getBaseLink() const

    getBaseLink

    Returns
    @@ -275,7 +277,7 @@

    Class Documentation
    -const std::string &getDistalLink() const
    +const std::string &getDistalLink() const

    getDistalLink

    Returns
    @@ -288,7 +290,7 @@

    Class Documentation void setReference(const Eigen::Vector3d &ref)

    setReference sets a new reference for the CoM task.

    -

    The task error IS NOT recomputed immediately, you need to call the _update(x) function Notice how the setReference(…) needs to be called before each _update(x) of the Cartesian task, since THE _update() RESETS THE FEED-FORWARD VELOCITY and ACCELERATION TERMS for safety reasons.

    +

    The task error IS NOT recomputed immediately, you need to call the _update(x) function Notice how the setReference(…) needs to be called before each _update(x) of the Cartesian task, since THE _update() RESETS THE FEED-FORWARD VELOCITY and ACCELERATION TERMS for safety reasons.

    Parameters
  • Enums
    • @@ -235,8 +234,8 @@

    Class Documentation

    Public Functions

    -
    -Contact(const std::string &task_id, const XBot::ModelInterface &robot, const std::string &contact_link, const Eigen::MatrixXd &contact_matrix = Eigen::MatrixXd())
    +
    +Contact(const std::string &task_id, const XBot::ModelInterface &robot, const std::string &contact_link, const Eigen::VectorXd &x, const Eigen::MatrixXd &contact_matrix = Eigen::MatrixXd())
    @@ -245,9 +244,14 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1tasks_1_1acceleration_1_1DynamicFeasibility.html b/api/classOpenSoT_1_1tasks_1_1acceleration_1_1DynamicFeasibility.html index 925577e6..ecb8906a 100644 --- a/api/classOpenSoT_1_1tasks_1_1acceleration_1_1DynamicFeasibility.html +++ b/api/classOpenSoT_1_1tasks_1_1acceleration_1_1DynamicFeasibility.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -284,7 +283,7 @@

    Class Documentation
    -const std::vector<bool> &getEnabledContacts() const
    +const std::vector<bool> &getEnabledContacts() const

    getEnabledContacts

    Returns
    diff --git a/api/classOpenSoT_1_1tasks_1_1acceleration_1_1MinJointVel.html b/api/classOpenSoT_1_1tasks_1_1acceleration_1_1MinJointVel.html index 70137c0e..b3db3587 100644 --- a/api/classOpenSoT_1_1tasks_1_1acceleration_1_1MinJointVel.html +++ b/api/classOpenSoT_1_1tasks_1_1acceleration_1_1MinJointVel.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • diff --git a/api/classOpenSoT_1_1tasks_1_1acceleration_1_1Postural.html b/api/classOpenSoT_1_1tasks_1_1acceleration_1_1Postural.html index 6bae41a7..e6785892 100644 --- a/api/classOpenSoT_1_1tasks_1_1acceleration_1_1Postural.html +++ b/api/classOpenSoT_1_1tasks_1_1acceleration_1_1Postural.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -238,12 +237,12 @@

    Class DocumentationPublic Functions

    -Postural(const XBot::ModelInterface &robot, AffineHelper qddot, const std::string task_id = "Postural")
    +Postural(const XBot::ModelInterface &robot, AffineHelper qddot = AffineHelper(), const std::string task_id = "Postural")
    -
    -Postural(const XBot::ModelInterface &robot, const std::string task_id = "Postural")
    +
    +Postural(const XBot::ModelInterface &robot, const int x_size, const std::string task_id = "Postural")
    @@ -256,11 +255,22 @@

    Class DocumentationGainType getGainType() const

    +
    +
    +virtual void _update(const Eigen::VectorXd &x)
    +

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    +
    +
    void setReference(const Eigen::VectorXd &qref)

    setReference sets a new reference for the postural actuated part.

    -

    The task error IS NOT recomputed immediately, you need to call the _update(x) function Notice how the setReference(…) needs to be called before each _update(x) of the Cartesian task, since THE _update() RESETS THE FEED-FORWARD VELOCITY and ACCELERATION TERMS for safety reasons.

    +

    The task error IS NOT recomputed immediately, you need to call the _update(x) function Notice how the setReference(…) needs to be called before each _update(x) of the Cartesian task, since THE _update() RESETS THE FEED-FORWARD VELOCITY and ACCELERATION TERMS for safety reasons.

    Parameters
  • Enums
    • @@ -257,9 +256,14 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    @@ -269,7 +273,7 @@

    Class Documentation
    -const std::string &getLinkInContact() const
    +const std::string &getLinkInContact() const

    @@ -282,7 +286,7 @@

    Class Documentation - + diff --git a/api/classOpenSoT_1_1tasks_1_1floating__base_1_1IMU.html b/api/classOpenSoT_1_1tasks_1_1floating__base_1_1IMU.html index fbcd2ad3..64d5955b 100644 --- a/api/classOpenSoT_1_1tasks_1_1floating__base_1_1IMU.html +++ b/api/classOpenSoT_1_1tasks_1_1floating__base_1_1IMU.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -256,9 +255,14 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1tasks_1_1force_1_1Cartesian.html b/api/classOpenSoT_1_1tasks_1_1force_1_1Cartesian.html index 7dd59db5..aaac90cd 100644 --- a/api/classOpenSoT_1_1tasks_1_1force_1_1Cartesian.html +++ b/api/classOpenSoT_1_1tasks_1_1force_1_1Cartesian.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -348,7 +347,7 @@

    Class Documentation
    -inline const std::string &getBaseLink() const
    +inline const std::string &getBaseLink() const

    getBaseLink

    Returns
    @@ -359,7 +358,7 @@

    Class Documentation
    -inline const std::string &getDistalLink() const
    +inline const std::string &getDistalLink() const

    getDistalLink

    Returns
    diff --git a/api/classOpenSoT_1_1tasks_1_1force_1_1CoM.html b/api/classOpenSoT_1_1tasks_1_1force_1_1CoM.html index 71cf1038..ff953e14 100644 --- a/api/classOpenSoT_1_1tasks_1_1force_1_1CoM.html +++ b/api/classOpenSoT_1_1tasks_1_1force_1_1CoM.html @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -241,6 +240,20 @@

    Class Documentation

    Public Functions

    +
    +
    +CoM(const Eigen::VectorXd &x, std::vector<std::string> &links_in_contact, XBot::ModelInterface &robot)
    +

    CoM.

    +
    +
    Parameters
    +
      +

    • x – the initial configuration of the robot

      • +

    • robot – the robot model, with floating base link set on the support foot

      • +
    +
    +
    +
    +
    CoM(std::vector<AffineHelper> wrenches, std::vector<std::string> &links_in_contact, XBot::ModelInterface &robot)
    @@ -252,9 +265,14 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    @@ -289,7 +307,7 @@

    Class Documentation
    -std::vector<std::string> getLinksInContact()
    +std::vector<std::string> getLinksInContact()

    @@ -361,7 +379,7 @@

    Class Documentation
    -const Eigen::Vector3d &getError()
    +const Eigen::Vector3d &getError()

    getError returns the position error between actual and reference positions

    Returns
    @@ -372,7 +390,7 @@

    Class Documentation
    -const Eigen::Vector3d &getVelocityError()
    +const Eigen::Vector3d &getVelocityError()

    getError returns the position error between actual and reference positions

    Returns
    @@ -383,12 +401,12 @@

    Class Documentation
    -const Eigen::Vector3d &getAngularMomentumError()
    +const Eigen::Vector3d &getAngularMomentumError()

    -const Eigen::MatrixXd &computeA(const std::vector<std::string> &links_in_contact)
    +const Eigen::MatrixXd &computeA(const std::vector<std::string> &links_in_contact)
    diff --git a/api/classOpenSoT_1_1tasks_1_1force_1_1FloatingBase.html b/api/classOpenSoT_1_1tasks_1_1force_1_1FloatingBase.html index 58cdd023..be8d36f7 100644 --- a/api/classOpenSoT_1_1tasks_1_1force_1_1FloatingBase.html +++ b/api/classOpenSoT_1_1tasks_1_1force_1_1FloatingBase.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • diff --git a/api/classOpenSoT_1_1tasks_1_1force_1_1Wrench.html b/api/classOpenSoT_1_1tasks_1_1force_1_1Wrench.html index 54186045..b665d12b 100644 --- a/api/classOpenSoT_1_1tasks_1_1force_1_1Wrench.html +++ b/api/classOpenSoT_1_1tasks_1_1force_1_1Wrench.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -239,13 +238,15 @@

    Class Documentation Wrench(const std::string &id, const std::string &distal_link, const std::string &base_link, const AffineHelper &wrench)

    Wrench.

    +

    +NOTE: base_link is not used but is only needed to retrieve information for other computations such as Inverse Dynamics (J’F)

    Parameters

    • id –

    • distal_link – where the force is applied

    • base_link – wrt the force is expressed (not used)

      • -

    • wrench – NOTE: base_link is not used but is only needed to retrieve information for other computations such as Inverse Dynamics (J’F)

      • +

    • wrench –

    @@ -263,21 +264,26 @@

    Class Documentation
    -const std::string &getDistalLink() const
    +const std::string &getDistalLink() const

    -const std::string &getBaseLink() const
    +const std::string &getBaseLink() const

    Protected Functions

    -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    diff --git a/api/classOpenSoT_1_1tasks_1_1force_1_1Wrenches.html b/api/classOpenSoT_1_1tasks_1_1force_1_1Wrenches.html index 324533a1..ba4120be 100644 --- a/api/classOpenSoT_1_1tasks_1_1force_1_1Wrenches.html +++ b/api/classOpenSoT_1_1tasks_1_1force_1_1Wrenches.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1AngularMomentum.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1AngularMomentum.html index 4b5a12d7..eac467dd 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1AngularMomentum.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1AngularMomentum.html @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -241,8 +240,8 @@

    Class Documentation

    Public Functions

    -
    -AngularMomentum(XBot::ModelInterface &robot)
    +
    +AngularMomentum(const Eigen::VectorXd &x, XBot::ModelInterface &robot)

    AngularMomentum constructor.

    Parameters
    @@ -291,14 +290,9 @@

    Class Documentationvoid getReference(KDL::Vector &desiredAngularMomentum) const

    -
    -
    -const Eigen::Vector3d &getReference() const
    -
    -
    -const std::string &getBaseLink() const
    +const std::string &getBaseLink() const

    getBaseLink

    Returns
    @@ -309,7 +303,7 @@

    Class Documentation
    -const std::string &getDistalLink() const
    +const std::string &getDistalLink() const

    getDistalLink

    Returns
    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1Cartesian.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1Cartesian.html index e7b726c7..d93abc12 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1Cartesian.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1Cartesian.html @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -246,8 +245,8 @@

    Class Documentation

    Public Functions

    -
    -Cartesian(std::string task_id, XBot::ModelInterface &robot, const std::string &distal_link, const std::string &base_link)
    +
    +Cartesian(std::string task_id, const Eigen::VectorXd &x, XBot::ModelInterface &robot, const std::string &distal_link, const std::string &base_link)

    Cartesian creates a new Cartesian task.

    Parameters
    @@ -268,9 +267,14 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    @@ -299,7 +303,7 @@

    Class Documentation void setReference(const Eigen::Affine3d &desiredPose, const Eigen::Vector6d &desiredTwist)

    setReference sets a new reference for the Cartesian task.

    -

    It causes the task error to be recomputed immediately, without the need to call the _update(x) function Notice how the setReference(desiredPose, desiredTwist) needs to be called before each _update(x) of the Cartesian task, since THE _update() RESETS THE FEED-FORWARD VELOCITY TERM for safety reasons.

    +

    It causes the task error to be recomputed immediately, without the need to call the _update(x) function Notice how the setReference(desiredPose, desiredTwist) needs to be called before each _update(x) of the Cartesian task, since THE _update() RESETS THE FEED-FORWARD VELOCITY TERM for safety reasons.

    Parameters
    @@ -379,7 +383,7 @@

    Class Documentation
    -const Eigen::Matrix4d &getActualPose() const
    +const Eigen::Matrix4d &getActualPose() const

    @@ -389,8 +393,8 @@

    Class Documentation
    -const Eigen::Vector6d &getCachedVelocityReference() const
    -

    getCachedVelocityReference can be used to get Velocity reference after update(), it will reset next update()

    +const Eigen::Vector6d &getCachedVelocityReference() const
    +

    getCachedVelocityReference can be used to get Velocity reference after update(), it will reset next update()

    Returns

    internal velcity reference

    @@ -410,12 +414,12 @@

    Class Documentation
    -const std::string &getDistalLink() const
    +const std::string &getDistalLink() const

    -const std::string &getBaseLink() const
    +const std::string &getBaseLink() const
    @@ -430,7 +434,7 @@

    Class Documentation
    -const Eigen::Vector6d &getError() const
    +const Eigen::Vector6d &getError() const

    getError returns the 6d cartesian error (position and orientation) between actual and reference pose

    Returns
    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1CartesianAdmittance.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1CartesianAdmittance.html index 6acac796..bf8c9bbf 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1CartesianAdmittance.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1CartesianAdmittance.html @@ -21,7 +21,7 @@ - + @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -231,7 +230,7 @@

    Class Documentation\( \mathbf{C} \in \mathbb{R}^{6 \times 6}\) is the Compliance matrix. The torque error is computed as:

    \( \boldsymbol{\Delta}\mathbf{F} = \mathbf{F}_d - \mathbf{F}_m \)

    with \( \mathbf{F}_m \) transformed in the base frame of the Cartesian task. The computed Cartesian velocity reference is plugged in the Cartesian task as a feed-forward desired Cartesian velocity:

    -

    \( \boldsymbol{\Delta}\mathbf{x}_d = \boldsymbol{\Delta}\mathbf{x}_r + \lambda \left( \mathbf{x}_d - \mathbf{x}\right) \\ \)

    +

    \( \boldsymbol{\Delta}\mathbf{x}_d = \boldsymbol{\Delta}\mathbf{x}_r + \lambda \left( \mathbf{x}_d - \mathbf{x}\right) \\ \)

    NOTE: the task distal_link is the same link of the force/torque sensor

    Public Types

    @@ -244,8 +243,8 @@

    Class Documentation

    Public Functions

    -
    -CartesianAdmittance(std::string task_id, XBot::ModelInterface &robot, std::string base_link, XBot::ForceTorqueSensor::ConstPtr ft_sensor)
    +
    +CartesianAdmittance(std::string task_id, const Eigen::VectorXd &x, XBot::ModelInterface &robot, std::string base_link, XBot::ForceTorqueSensor::ConstPtr ft_sensor)

    CartesianAdmittance constructor.

    Parameters
    @@ -262,7 +261,7 @@

    Class Documentation
    -const Eigen::Matrix6d &getCartesianCompliance()
    +const Eigen::Matrix6d &getCartesianCompliance()

    getCartesianCompliance

    Returns
    @@ -295,7 +294,7 @@

    Class Documentation
    -const Eigen::Vector6d &getWrenchReference()
    +const Eigen::Vector6d &getWrenchReference()

    getWrenchReference

    Returns
    @@ -494,7 +493,7 @@

    Class Documentation - +

    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1CoM.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1CoM.html index 527b64ac..f736eaa8 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1CoM.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1CoM.html @@ -22,7 +22,7 @@ - + @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -238,8 +237,8 @@

    Class Documentation

    Public Functions

    -
    -CoM(XBot::ModelInterface &robot, const std::string &id = "CoM")
    +
    +CoM(const Eigen::VectorXd &x, XBot::ModelInterface &robot, const std::string &id = "CoM")

    CoM.

    Parameters
    @@ -256,6 +255,17 @@

    Class Documentation~CoM()

    +
    +
    +virtual void _update(const Eigen::VectorXd &x)
    +

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    +
    +
    virtual void setReference(const Eigen::Vector3d &desiredPosition)
    @@ -277,7 +287,7 @@

    Class Documentation virtual void setReference(const Eigen::Vector3d &desiredPosition, const Eigen::Vector3d &desiredVelocity)

    setReference sets a new reference for the CoM task.

    -

    It causes the task error to be recomputed immediately, without the need to call the _update(x) function Notice how the setReference(desiredPosition, desiredVelocity) needs to be called before each _update(x) of the CoM task, since THE _update() RESETS THE FEED-FORWARD VELOCITY TERM for safety reasons.

    +

    It causes the task error to be recomputed immediately, without the need to call the _update(x) function Notice how the setReference(desiredPosition, desiredVelocity) needs to be called before each _update(x) of the CoM task, since THE _update() RESETS THE FEED-FORWARD VELOCITY TERM for safety reasons.

    Parameters
  • Enums
    • @@ -246,14 +245,19 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    -const std::string &getLinkName() const
    +const std::string &getLinkName() const
    @@ -263,7 +267,7 @@

    Class Documentation
    -const Eigen::VectorXd &getError() const
    +const Eigen::VectorXd &getError() const

    getError returns the 6d cartesian error (position and orientation) between actual and reference pose

    Returns
    @@ -323,11 +327,6 @@

    Class DocumentationEigen::MatrixXd _Jtmp

    -
    -
    -Eigen::MatrixXd _Jrot
    -
    -

    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1Gaze.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1Gaze.html index 6f24bb26..b76426c5 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1Gaze.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1Gaze.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -239,8 +238,8 @@

    Class Documentation

    Public Functions

    -
    -Gaze(std::string task_id, XBot::ModelInterface &robot, std::string base_link, std::string distal_link = "gaze")
    +
    +Gaze(std::string task_id, const Eigen::VectorXd &x, XBot::ModelInterface &robot, std::string base_link, std::string distal_link = "gaze")
    @@ -293,7 +292,7 @@

    Class Documentation
    -virtual std::list<ConstraintPtr> &getConstraints()
    +virtual std::list<ConstraintPtr> &getConstraints()

    getConstraints return a reference to the constraint list.

    Use the standard list methods to add, remove, clear, … the constraints list. e.g.: task.getConstraints().push_back(new_constraint) Notice that in subtasks, you will get the constraint list of the father Task from which the SubTask is generated.

    @@ -314,9 +313,20 @@

    Class Documentation +
    +virtual void _update(const Eigen::VectorXd &x)
    +

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    +

    +
    -virtual std::vector<bool> getActiveJointsMask()
    +virtual std::vector<bool> getActiveJointsMask()

    getActiveJointsMask return a vector of length NumberOfDOFs.

    If an element is false the corresponding column of the task jacobian is set to 0.

    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1JointAdmittance.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1JointAdmittance.html index 7cd71334..b7aa1cbe 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1JointAdmittance.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1JointAdmittance.html @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -231,7 +230,7 @@

    Class Documentation\( \mathbf{C} \in \mathbb{R}^{n \times n}\) is the Compliance matrix. The torque error is computed as:

    \( \boldsymbol{\Delta \tau} = \mathbf{h} - \boldsymbol{\tau}_m \)

    with \( \mathbf{h} \) containing the torques due to gravity and Coriolis/Centrifugal forces, computed from the robot feedback. The computed joint velocity reference is plugged in the postural task as a feed-forward desired joint velocity:

    -

    \( \boldsymbol{\Delta}\mathbf{q}_d = \boldsymbol{\Delta}\mathbf{q}_r + \lambda \left( \mathbf{q}_d - \mathbf{q}\right) \\ \)

    +

    \( \boldsymbol{\Delta}\mathbf{q}_d = \boldsymbol{\Delta}\mathbf{q}_r + \lambda \left( \mathbf{q}_d - \mathbf{q}\right) \\ \)

    Public Types

    @@ -243,8 +242,8 @@

    Class Documentation

    Public Functions

    -
    -JointAdmittance(XBot::ModelInterface &robot, XBot::ModelInterface &model)
    +
    +JointAdmittance(XBot::ModelInterface &robot, XBot::ModelInterface &model, const Eigen::VectorXd &x)

    JointAdmittance constructor.

    Parameters
    @@ -280,7 +279,7 @@

    Class Documentation
    -const Eigen::MatrixXd &getJointCompliance()
    +const Eigen::MatrixXd &getJointCompliance()

    getJointCompliance

    Returns
    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1LinearMomentum.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1LinearMomentum.html index 3f6d0f28..848525dc 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1LinearMomentum.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1LinearMomentum.html @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -245,8 +244,8 @@

    Class Documentation

    Public Functions

    -
    -LinearMomentum(XBot::ModelInterface &robot)
    +
    +LinearMomentum(const Eigen::VectorXd &x, XBot::ModelInterface &robot)

    LinearMomentum constructor.

    Parameters
    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1Manipulability.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1Manipulability.html index b05e2909..5ece19f2 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1Manipulability.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1Manipulability.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -249,13 +248,13 @@

    Class Documentation

    Public Functions

    -
    -Manipulability(const XBot::ModelInterface &robot_model, const Cartesian::Ptr CartesianTask, const double step = 1E-3)
    +
    +Manipulability(const Eigen::VectorXd &x, const XBot::ModelInterface &robot_model, const Cartesian::Ptr CartesianTask)
    -
    -Manipulability(const XBot::ModelInterface &robot_model, const CoM::Ptr CartesianTask, const double step = 1E-3)
    +
    +Manipulability(const Eigen::VectorXd &x, const XBot::ModelInterface &robot_model, const CoM::Ptr CartesianTask)
    @@ -263,6 +262,17 @@

    Class Documentation~Manipulability()

    +
    +
    +virtual void _update(const Eigen::VectorXd &x)
    +

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +
    +
    +
    double ComputeManipulabilityIndex()
    @@ -286,8 +296,8 @@

    Class Documentation -
    -inline const Eigen::MatrixXd &getW() const
    +
    +inline Eigen::MatrixXd getW()

    getW get a Weight matrix for the manipulability index

    @@ -296,41 +306,12 @@

    Class Documentationinline virtual void setLambda(double lambda)

    -

    -
    -

    Protected Functions

    -
    -
    -virtual void _update()
    -

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    -
    -

    Protected Attributes

    -
    -const XBot::ModelInterface &_model
    -
    - -
    -
    -Eigen::VectorXd _q
    -
    - -
    -
    -double _step
    -
    - -
    -
    -Eigen::VectorXd _gradient
    -
    - -
    -
    -Eigen::VectorXd _deltas
    +
    +Eigen::VectorXd _x
    @@ -346,13 +327,13 @@

    Class Documentation

    Public Functions

    -
    -inline ComputeManipulabilityIndexGradient(const XBot::ModelInterface &robot_model, const Cartesian::Ptr CartesianTask)
    +
    +inline ComputeManipulabilityIndexGradient(const Eigen::VectorXd &q, const XBot::ModelInterface &robot_model, const Cartesian::Ptr CartesianTask)
    -
    -inline ComputeManipulabilityIndexGradient(const XBot::ModelInterface &robot_model, const CoM::Ptr CartesianTask)
    +
    +inline ComputeManipulabilityIndexGradient(const Eigen::VectorXd &q, const XBot::ModelInterface &robot_model, const CoM::Ptr CartesianTask)
    @@ -375,8 +356,8 @@

    Class Documentation -
    -inline const Eigen::MatrixXd &getW() const
    +
    +inline Eigen::MatrixXd &getW()

    @@ -409,7 +390,7 @@

    Class Documentation
    -OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr _CartesianTask
    +OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr _CartesianTask

    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1Manipulability_1_1ComputeManipulabilityIndexGradient.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1Manipulability_1_1ComputeManipulabilityIndexGradient.html index d1f309e7..149bd46f 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1Manipulability_1_1ComputeManipulabilityIndexGradient.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1Manipulability_1_1ComputeManipulabilityIndexGradient.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -232,13 +231,13 @@

    Class Documentation

    Public Functions

    -
    -inline ComputeManipulabilityIndexGradient(const XBot::ModelInterface &robot_model, const Cartesian::Ptr CartesianTask)
    +
    +inline ComputeManipulabilityIndexGradient(const Eigen::VectorXd &q, const XBot::ModelInterface &robot_model, const Cartesian::Ptr CartesianTask)
    -
    -inline ComputeManipulabilityIndexGradient(const XBot::ModelInterface &robot_model, const CoM::Ptr CartesianTask)
    +
    +inline ComputeManipulabilityIndexGradient(const Eigen::VectorXd &q, const XBot::ModelInterface &robot_model, const CoM::Ptr CartesianTask)
    @@ -261,8 +260,8 @@

    Class Documentation -
    -inline const Eigen::MatrixXd &getW() const
    +
    +inline Eigen::MatrixXd &getW()

    @@ -295,7 +294,7 @@

    Class Documentation
    -OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr _CartesianTask
    +OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr _CartesianTask

    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1MinimumEffort.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1MinimumEffort.html index 3d82f255..68d0047f 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1MinimumEffort.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1MinimumEffort.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -246,8 +245,8 @@

    Class Documentation

    Public Functions

    -
    -MinimumEffort(const XBot::ModelInterface &robot_model, const double step = 1E-3)
    +
    +MinimumEffort(const Eigen::VectorXd &x, const XBot::ModelInterface &robot_model)
    @@ -255,6 +254,18 @@

    Class Documentation~MinimumEffort()

    +
    +
    +virtual void _update(const Eigen::VectorXd &x)
    +

    _update updates the minimum effort gradient.

    +

    @detail It also updates the state on the internal robot model so that successive calls to the computeEffort() function will take into account the updated posture of the robot.

    +
    +
    Parameters
    +

    x – the actual posture of the robot

    +
    +
    +
    +
    double computeEffort()
    @@ -279,7 +290,7 @@

    Class Documentation
    -inline const Eigen::MatrixXd &getW()
    +inline const Eigen::MatrixXd &getW()

    getW get a Weight matrix for the manipulability index

    @@ -288,32 +299,12 @@

    Class Documentationinline virtual void setLambda(double lambda)

    - -
    -

    Protected Functions

    -
    -
    -virtual void _update()
    -

    _update updates the minimum effort gradient.

    -

    @detail It also updates the state on the internal robot model so that successive calls to the computeEffort() function will take into account the updated posture of the robot.

    -
    -
    Parameters
    -

    x – the actual posture of the robot

    -
    -
    -
    -

    Protected Attributes

    -
    -const XBot::ModelInterface &_model
    -
    - -
    -
    -Eigen::VectorXd _q
    +
    +Eigen::VectorXd _x
    @@ -321,21 +312,6 @@

    Class DocumentationComputeGTauGradient _gTauGradientWorker

    -
    -
    -double _step
    -
    - -
    -
    -Eigen::VectorXd _gradient
    -
    - -
    -
    -Eigen::VectorXd _deltas
    -
    -
    @@ -345,8 +321,8 @@

    Class Documentation

    Public Functions

    -
    -inline ComputeGTauGradient(const XBot::ModelInterface &robot_model)
    +
    +inline ComputeGTauGradient(const Eigen::VectorXd &q, const XBot::ModelInterface &robot_model)
    @@ -369,8 +345,8 @@

    Class Documentation -
    -inline const Eigen::MatrixXd &getW() const
    +
    +inline const Eigen::MatrixXd &getW()

    @@ -391,6 +367,11 @@

    Class DocumentationEigen::MatrixXd _W

    +
    +
    +Eigen::VectorXd _zeros
    +
    +
    Eigen::VectorXd _tau
    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1MinimumEffort_1_1ComputeGTauGradient.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1MinimumEffort_1_1ComputeGTauGradient.html index 718c107a..5da8cde8 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1MinimumEffort_1_1ComputeGTauGradient.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1MinimumEffort_1_1ComputeGTauGradient.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -233,8 +232,8 @@

    Class Documentation

    Public Functions

    -
    -inline ComputeGTauGradient(const XBot::ModelInterface &robot_model)
    +
    +inline ComputeGTauGradient(const Eigen::VectorXd &q, const XBot::ModelInterface &robot_model)
    @@ -257,8 +256,8 @@

    Class Documentation -
    -inline const Eigen::MatrixXd &getW() const
    +
    +inline const Eigen::MatrixXd &getW()

    @@ -279,6 +278,11 @@

    Class DocumentationEigen::MatrixXd _W

    +
    +
    +Eigen::VectorXd _zeros
    +
    +
    Eigen::VectorXd _tau
    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1Postural.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1Postural.html index a5f74d64..3c008e14 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1Postural.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1Postural.html @@ -66,9 +66,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -131,7 +136,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -145,7 +149,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -159,16 +162,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -245,8 +244,8 @@

    Class Documentation

    Public Functions

    -
    -Postural(const XBot::ModelInterface &robot, const std::string &task_id = "Postural")
    +
    +Postural(const Eigen::VectorXd &x, const std::string &task_id = "Postural")
    @@ -255,9 +254,14 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    @@ -276,7 +280,7 @@

    Class Documentation void setReference(const Eigen::VectorXd &x_desired, const Eigen::VectorXd &xdot_desired)

    setReference sets a new reference for the Postural task.

    -

    It causes the task error to be recomputed immediately, without the need to call the _update(x) function Notice how the setReference(x_desired, xdot_desired) needs to be called before each _update(x) of the Postural task, since THE _update() RESETS THE FEED-FORWARD VELOCITY TERM for safety reasons.

    +

    It causes the task error to be recomputed immediately, without the need to call the _update(x) function Notice how the setReference(x_desired, xdot_desired) needs to be called before each _update(x) of the Postural task, since THE _update() RESETS THE FEED-FORWARD VELOCITY TERM for safety reasons.

    Parameters
  • Enums
    • @@ -240,9 +239,14 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1PureRollingOrientation.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1PureRollingOrientation.html index a9523b72..40221fe5 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1PureRollingOrientation.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1PureRollingOrientation.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -240,9 +239,14 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1PureRollingPosition.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1PureRollingPosition.html index 6d8fd943..12ade576 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1PureRollingPosition.html +++ b/api/classOpenSoT_1_1tasks_1_1velocity_1_1PureRollingPosition.html @@ -20,7 +20,7 @@ - + @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -245,9 +244,14 @@

    Class Documentation -
    -virtual void _update()
    +
    +virtual void _update(const Eigen::VectorXd &x)

    Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

    +
    +
    Parameters
    +

    x – variable state at the current step (input)

    +
    +

    @@ -272,7 +276,7 @@

    Class Documentation - +
    diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilter.html b/api/classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilter.html deleted file mode 100644 index 2fce4995..00000000 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilter.html +++ /dev/null @@ -1,385 +0,0 @@ - - - - - - Template Class SecondOrderFilter — OpenSoT documentation - - - - - - - - - - - - - - - - - - - -
    - - -
    - -
    -
    -
    - -
    -
    -
    -
    - -
    -

    Template Class SecondOrderFilter

    - -
    -

    Class Documentation

    -
    -
    -template<typename SignalType>
    class SecondOrderFilter
    -

    SecondOrderFilter implements a canonical continuous-time second order filter with transfer function 1 P(s) = ——————–&#8212;, w = natural frequency, eps = damping ratio (s/w)^2 + 2*eps/w*s + 1.

    -

    and discretized according to a trapezoidal (aka Tustin) scheme. This yields a difference equation of the following form: 

     a0*y + a1*yd + a2*ydd = u + b1*ud + b2*udd
-
    -
    - where yd = y(k-1), ydd = y(k-2) and so on (d = delayed).

    -
    -

    Public Types

    -
    -
    -typedef std::shared_ptr<SecondOrderFilter<SignalType>> Ptr
    -
    - -
    -
    -typedef std::shared_ptr<SecondOrderFilter<SignalType>> Ptr
    -
    - -
    -
    -

    Public Functions

    -
    -
    -inline SecondOrderFilter()
    -
    - -
    -
    -inline SecondOrderFilter(double omega, double eps, double ts, const SignalType &initial_state)
    -
    - -
    -
    -inline void reset(const SignalType &initial_state)
    -
    - -
    -
    -inline const SignalType &process(const SignalType &input)
    -
    - -
    -
    -inline const SignalType &getOutput() const
    -
    - -
    -
    -inline void setOmega(double omega)
    -
    - -
    -
    -inline double getOmega()
    -
    - -
    -
    -inline void setDamping(double eps)
    -
    - -
    -
    -inline double getDamping()
    -
    - -
    -
    -inline void setTimeStep(double ts)
    -
    - -
    -
    -inline double getTimeStep()
    -
    - -
    -
    -inline SecondOrderFilter()
    -
    - -
    -
    -inline SecondOrderFilter(double omega, double eps, double ts, const SignalType &initial_state)
    -
    - -
    -
    -inline void reset(const SignalType &initial_state)
    -
    - -
    -
    -inline const SignalType &process(const SignalType &input)
    -
    - -
    -
    -inline const SignalType &getOutput() const
    -
    - -
    -
    -inline void setOmega(double omega)
    -
    - -
    -
    -inline double getOmega()
    -
    - -
    -
    -inline void setDamping(double eps)
    -
    - -
    -
    -inline double getDamping()
    -
    - -
    -
    -inline void setTimeStep(double ts)
    -
    - -
    -
    -inline double getTimeStep()
    -
    - -
    -
    - -
    -
    - - -
    -
    - -
    -
    -
    -
    - - - - \ No newline at end of file diff --git a/api/classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilterArray.html b/api/classOpenSoT_1_1utils_1_1ForceOptimization.html similarity index 54% rename from api/classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilterArray.html rename to api/classOpenSoT_1_1utils_1_1ForceOptimization.html index b2dae922..b3564e0a 100644 --- a/api/classOpenSoT_1_1tasks_1_1velocity_1_1SecondOrderFilterArray.html +++ b/api/classOpenSoT_1_1utils_1_1ForceOptimization.html @@ -3,7 +3,7 @@ - Template Class SecondOrderFilterArray — OpenSoT documentation + Class ForceOptimization — OpenSoT documentation @@ -21,7 +21,7 @@ - + @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -195,9 +194,9 @@
    @@ -205,71 +204,75 @@
    -
    -

    Template Class SecondOrderFilterArray

    +
    +

    Class ForceOptimization

    Class Documentation

    -
    -template<class SignalType>
    class SecondOrderFilterArray
    -
    -

    Public Functions

    -
    -
    -inline SecondOrderFilterArray(const int channels)
    -
    - -
    -
    -inline const std::vector<SignalType> &process(const std::vector<SignalType> &input)
    -
    - -
    -
    -inline const std::vector<SignalType> &getOutput() const
    -
    - -
    -
    -inline void reset(const SignalType &init)
    -
    - -
    -
    -inline bool setTimeStep(const double time_step, const int channel)
    +
    +class ForceOptimization
    +

    This class computes the solution of a force distribution problem, in order to actuate a full N+6 component torque vector on a floating-fixed_base robot, by using ground reaction forces exchanged with the environment.

    +
    +

    Public Types

    +
    +
    +typedef std::shared_ptr<ForceOptimization> Ptr
    +
    +
    +

    Public Functions

    -
    -inline double getTimeStep(const int channel)
    -
    +
    +ForceOptimization(XBot::ModelInterface::Ptr model, std::vector<std::string> contact_links, bool optimize_torque = true, double friction_coeff = DEFAULT_FRICTION_COEFF)
    +

    Constructor.

    +
    +
    Parameters
    +
      +

    • model – ModelInterface object that is kept updated with the robot state

      • +

    • contact_links – List of contact links

      • +

    • optimize_torque – False if point contacts are assumed

      • +
    +
    +
    +
    -
    -inline bool setDamping(const double damping, const int channel)
    -
    +
    +bool compute(const Eigen::VectorXd &fixed_base_torque, std::vector<Eigen::Vector6d> &Fc, Eigen::VectorXd &tau)
    +

    Translate a fixed-base torque vector to an under-actuated torque vector + contact forces.

    +
    -
    -inline double getDamping(const int channel)
    +
    +void setContactRotationMatrix(const std::string &contact_link, const Eigen::Matrix3d &w_R_c)
    -
    -inline bool setOmega(const double omega, const int channel)
    +
    +void log(XBot::MatLogger2::Ptr logger)
    -
    -inline double getOmega(const int channel)
    -
    +
    +double getObjective()
    +

    getObjective

    +
    +
    Returns
    +

    the value of the cost function at first priority level

    +
    +
    +

    -
    -
    -inline int getNumberOfChannels()
    + +
    +

    Public Static Attributes

    +
    +
    +static constexpr double DEFAULT_FRICTION_COEFF = 0.5
    @@ -282,7 +285,7 @@

    Class Documentation - + diff --git a/api/classOpenSoT_1_1utils_1_1InverseDynamics.html b/api/classOpenSoT_1_1utils_1_1InverseDynamics.html index 6ec41e70..9e860fa7 100644 --- a/api/classOpenSoT_1_1utils_1_1InverseDynamics.html +++ b/api/classOpenSoT_1_1utils_1_1InverseDynamics.html @@ -21,7 +21,7 @@ - + @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -259,7 +258,7 @@

    Class Documentation
    -const AffineHelper &getJointsAccelerationAffine() const
    +const AffineHelper &getJointsAccelerationAffine() const

    getJointsAccelerationAffine return the Affine related to the joint accelerations

    Returns
    @@ -270,7 +269,7 @@

    Class Documentation
    -const std::vector<AffineHelper> &getContactsWrenchAffine() const
    +const std::vector<AffineHelper> &getContactsWrenchAffine() const

    getContactsWrenchAffine return a vector of Affines each related to a contact wrench

    Returns
    @@ -281,7 +280,7 @@

    Class Documentation
    -const std::shared_ptr<OpenSoT::OptvarHelper> getSerializer() const
    +const std::shared_ptr<OpenSoT::OptvarHelper> getSerializer() const

    getSerializer return a pointer to the object which contains all the variables of the Inverse Dynamics

    Returns
    @@ -330,7 +329,7 @@

    Class Documentation - + diff --git a/api/classOpenSoT_1_1utils_1_1MatrixPiler.html b/api/classOpenSoT_1_1utils_1_1MatrixPiler.html index 0da91d4b..7a7429d5 100644 --- a/api/classOpenSoT_1_1utils_1_1MatrixPiler.html +++ b/api/classOpenSoT_1_1utils_1_1MatrixPiler.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -303,7 +302,7 @@

    Class Documentation
    -inline double &operator[](const int i)
    +inline double &operator[](const int i)

    operator [] to index vector

    Parameters
    @@ -317,7 +316,7 @@

    Class Documentation
    -inline double &operator()(const int i, const int j)
    +inline double &operator()(const int i, const int j)

    operator () to index matrix

    Parameters
    diff --git a/api/classOpenSoT_1_1variables_1_1Torque.html b/api/classOpenSoT_1_1variables_1_1Torque.html index 54fbcfe5..983dd1cc 100644 --- a/api/classOpenSoT_1_1variables_1_1Torque.html +++ b/api/classOpenSoT_1_1variables_1_1Torque.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • diff --git a/api/classSVDPseudoInverse.html b/api/classSVDPseudoInverse.html index 0a985d16..e75f6417 100644 --- a/api/classSVDPseudoInverse.html +++ b/api/classSVDPseudoInverse.html @@ -20,7 +20,7 @@ - + @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -244,7 +243,7 @@

    Class Documentation - +
    diff --git a/api/classXBot_1_1Logger.html b/api/classXBot_1_1Logger.html deleted file mode 100644 index 490113d9..00000000 --- a/api/classXBot_1_1Logger.html +++ /dev/null @@ -1,489 +0,0 @@ - - - - - - Class Logger — OpenSoT documentation - - - - - - - - - - - - - - - - - - - -
    - - -
    - -
    -
    -
    - -
    -
    -
    -
    - -
    -

    Class Logger

    - -
    -

    Class Documentation

    -
    -
    -class Logger
    -
    -

    Public Types

    -
    -
    -enum class Severity
    -

    Values:

    -
    -
    -enumerator DEBUG
    -
    - -
    -
    -enumerator LOW
    -
    - -
    -
    -enumerator MID
    -
    - -
    -
    -enumerator HIGH
    -
    - -
    -
    -enumerator FATAL
    -
    - -
    - -
    -
    -

    Public Static Functions

    -
    -
    -static std::ostream &log()
    -

    Writes to the internal stream with no special formatting and without changing the severity level (which defaults to HIGH).

    -
    -
    Returns
    -

    Reference to std::ostream (it enables to leverage the same interface as std::cout / cerr)

    -
    -
    -
    - -
    -
    -static std::ostream &info(Logger::Severity s = Logger::Severity::LOW)
    -

    Logs an information message (with bold [INFO] header).

    -
    -
    Parameters
    -

    s – Message severity. Defaults to LOW.

    -
    -
    Returns
    -

    Reference to std::ostream (it enables to leverage the same interface as std::cout / cerr)

    -
    -
    -
    - -
    -
    -static void info(Logger::Severity s, const char *fmt, ...)
    -

    Logs an information message (with bold [INFO] header).

    -
    -
    Parameters
    -
      -

    • s – Message severity. Defaults to LOW.

      • -

    • fmt – Formatted string (printf-like)

      • -

    • ... – Values for the formatted string (printf-like)

      • -
    -
    -
    -
    - -
    -
    -static void info(const char *fmt, ...)
    -

    Logs an information message (with bold [INFO] header).

    -
    -
    Parameters
    -

    fmt – Formatted string (printf-like)

    -
    -
    -
    - -
    -
    -static std::ostream &error(Logger::Severity s = Logger::Severity::HIGH)
    -

    Logs an error message (in red, with bold [ERROR] header).

    -
    -
    Parameters
    -

    s – Message severity. Defaults to HIGH.

    -
    -
    Returns
    -

    Reference to std::ostream (it enables to leverage the same interface as std::cout / cerr)

    -
    -
    -
    - -
    -
    -static void error(Logger::Severity s, const char *fmt, ...)
    -

    Logs an error message (with bold [error] header).

    -
    -
    Parameters
    -
      -

    • s – Message severity. Defaults to HIGH.

      • -

    • fmt – Formatted string (printf-like)

      • -

    • ... – Values for the formatted string (printf-like)

      • -
    -
    -
    -
    - -
    -
    -static void error(const char *fmt, ...)
    -

    Logs an error message (with bold [error] header).

    -
    -
    Parameters
    -

    fmt – Formatted string (printf-like)

    -
    -
    -
    - -
    -
    -static std::ostream &warning(Logger::Severity s = Logger::Severity::MID)
    -

    Logs a warning message (in yellow, with bold [warning] header).

    -
    -
    Parameters
    -

    s – Message severity. Defaults to MEDIUM.

    -
    -
    Returns
    -

    Reference to std::ostream (it enables to leverage the same interface as std::cout / cerr)

    -
    -
    -
    - -
    -
    -static void warning(Logger::Severity s, const char *fmt, ...)
    -

    Logs a warning message (with bold [warning] header).

    -
    -
    Parameters
    -
      -

    • s – Message severity. Defaults to HIGH.

      • -

    • fmt – Formatted string (printf-like)

      • -

    • ... – Values for the formatted string (printf-like)

      • -
    -
    -
    -
    - -
    -
    -static void warning(const char *fmt, ...)
    -

    Logs a warning message (with bold [warning] header).

    -
    -
    Parameters
    -

    fmt – Formatted string (printf-like)

    -
    -
    -
    - -
    -
    -static std::ostream &success(Logger::Severity s = Logger::Severity::LOW)
    -

    Logs a success message (in green, with bold [OK] header).

    -
    -
    Parameters
    -

    s – Message severity. Defaults to LOW.

    -
    -
    Returns
    -

    Reference to std::ostream (it enables to leverage the same interface as std::cout / cerr)

    -
    -
    -
    - -
    -
    -static void success(Logger::Severity s, const char *fmt, ...)
    -

    Logs a success message (with bold [success] header).

    -
    -
    Parameters
    -
      -

    • s – Message severity. Defaults to HIGH.

      • -

    • fmt – Formatted string (printf-like)

      • -

    • ... – Values for the formatted string (printf-like)

      • -
    -
    -
    -
    - -
    -
    -static void success(const char *fmt, ...)
    -

    Logs an information message (with bold [INFO] header).

    -
    -
    Parameters
    -

    fmt – Formatted string (printf-like)

    -
    -
    -
    - -
    -
    -static Endl &endl()
    -

    Closes the message and prints to screen.

    -
    - -
    -
    -static void SetVerbosityLevel(Logger::Severity s)
    -

    Sets the global verbosity level, i.e.

    -

    the minimum severity that a message must have in order to actually be printed.

    -
    - -
    -
    -static Logger::Severity GetVerbosityLevel()
    -

    Sets the global verbosity level, i.e.

    -

    the minimum severity that a message must have in order to actually be printed.

    -
    - -
    -
    -static void SetOnPrintCallback(std::function<void(char*, int, Logger::Severity)> f)
    -

    Sets the on print callback.

    -

    The user can customize the printing behavior by providing a custom function to the underlying logger.

    -
    - -
    -
    - -
    -
    - - -
    -
    - -
    -
    -
    -
    - - - - \ No newline at end of file diff --git a/api/classXBot_1_1LoggerClass.html b/api/classXBot_1_1LoggerClass.html deleted file mode 100644 index f3b80a8e..00000000 --- a/api/classXBot_1_1LoggerClass.html +++ /dev/null @@ -1,505 +0,0 @@ - - - - - - Class LoggerClass — OpenSoT documentation - - - - - - - - - - - - - - - - - - - -
    - - -
    - -
    -
    -
    - -
    -
    -
    -
    - -
    -

    Class LoggerClass

    - -
    -

    Class Documentation

    -
    -
    -class LoggerClass
    -

    Logger class.

    -
    -

    Public Types

    -
    -
    -typedef std::shared_ptr<LoggerClass> Ptr
    -
    - -
    -
    -typedef std::function<void(char*, int, Logger::Severity)> OnPrintCallback
    -
    - -
    -
    -

    Public Functions

    -
    -
    -LoggerClass(std::string logger_name)
    -
    - -
    -
    -LoggerClass(std::string logger_name, OnPrintCallback f)
    -
    - -
    -
    -~LoggerClass()
    -
    - -
    -
    -std::ostream &log()
    -

    Writes to the internal stream with no special formatting and without changing the severity level (which defaults to HIGH).

    -
    -
    Returns
    -

    Reference to std::ostream (it enables to leverage the same interface as std::cout / cerr)

    -
    -
    -
    - -
    -
    -std::ostream &info(Logger::Severity s = Logger::Severity::LOW)
    -

    Logs an information message (with bold [INFO] header).

    -
    -
    Parameters
    -

    s – Message severity. Defaults to LOW.

    -
    -
    Returns
    -

    Reference to std::ostream (it enables to leverage the same interface as std::cout / cerr)

    -
    -
    -
    - -
    -
    -void info(Logger::Severity s, const char *fmt, ...)
    -

    Logs an information message (with bold [INFO] header).

    -
    -
    Parameters
    -
      -

    • s – Message severity. Defaults to LOW.

      • -

    • fmt – Formatted string (printf-like)

      • -

    • ... – Values for the formatted string (printf-like)

      • -
    -
    -
    -
    - -
    -
    -void info(const char *fmt, ...)
    -

    Logs an information message (with bold [INFO] header).

    -
    -
    Parameters
    -

    fmt – Formatted string (printf-like)

    -
    -
    -
    - -
    -
    -std::ostream &error(Logger::Severity s = Logger::Severity::HIGH)
    -

    Logs an error message (in red, with bold [ERROR] header).

    -
    -
    Parameters
    -

    s – Message severity. Defaults to HIGH.

    -
    -
    Returns
    -

    Reference to std::ostream (it enables to leverage the same interface as std::cout / cerr)

    -
    -
    -
    - -
    -
    -void error(Logger::Severity s, const char *fmt, ...)
    -

    Logs an error message (with bold [ERROR] header).

    -
    -
    Parameters
    -
      -

    • s – Message severity. Defaults to HIGH.

      • -

    • fmt – Formatted string (printf-like)

      • -

    • ... – Values for the formatted string (printf-like)

      • -
    -
    -
    -
    - -
    -
    -void error(const char *fmt, ...)
    -

    Logs an error message (with bold [ERROR] header).

    -
    -
    Parameters
    -

    fmt – Formatted string (printf-like)

    -
    -
    -
    - -
    -
    -std::ostream &warning(Logger::Severity s = Logger::Severity::MID)
    -

    Logs a warning message (in yellow, with bold [WARNING] header).

    -
    -
    Parameters
    -

    s – Message severity. Defaults to MEDIUM.

    -
    -
    Returns
    -

    Reference to std::ostream (it enables to leverage the same interface as std::cout / cerr)

    -
    -
    -
    - -
    -
    -void warning(Logger::Severity s, const char *fmt, ...)
    -

    Logs an warning message (with bold [warning] header).

    -
    -
    Parameters
    -
      -

    • s – Message severity. Defaults to MEDIUM.

      • -

    • fmt – Formatted string (printf-like)

      • -

    • ... – Values for the formatted string (printf-like)

      • -
    -
    -
    -
    - -
    -
    -void warning(const char *fmt, ...)
    -

    Logs an warning message (with bold [warning] header).

    -
    -
    Parameters
    -

    fmt – Formatted string (printf-like)

    -
    -
    -
    - -
    -
    -std::ostream &success(Logger::Severity s = Logger::Severity::LOW)
    -

    Logs a success message (in green, with bold [OK] header).

    -
    -
    Parameters
    -

    s – Message severity. Defaults to LOW.

    -
    -
    Returns
    -

    Reference to std::ostream (it enables to leverage the same interface as std::cout / cerr)

    -
    -
    -
    - -
    -
    -void success(Logger::Severity s, const char *fmt, ...)
    -

    Logs a success message (with bold [success] header).

    -
    -
    Parameters
    -
      -

    • s – Message severity. Defaults to LOW.

      • -

    • fmt – Formatted string (printf-like)

      • -

    • ... – Values for the formatted string (printf-like)

      • -
    -
    -
    -
    - -
    -
    -void success(const char *fmt, ...)
    -

    Logs a success message (with bold [success] header).

    -
    -
    Parameters
    -

    fmt – Formatted string (printf-like)

    -
    -
    -
    - -
    -
    -Endl &endl()
    -

    Closes the message and prints to screen.

    -
    - -
    -
    -void setVerbosityLevel(Logger::Severity s)
    -

    Sets the global verbosity level, i.e.

    -

    the minimum severity that a message must have in order to actually be printed.

    -
    - -
    -
    -Logger::Severity getVerbosityLevel() const
    -

    Sets the global verbosity level, i.e.

    -

    the minimum severity that a message must have in order to actually be printed.

    -
    - -
    -
    -void setOnPrintCallback(std::function<void(char*, int, Logger::Severity)> f)
    -

    Sets the on print callback.

    -

    The user can customize the printing behavior by providing a custom function to the underlying logger.

    -
    - -
    -
    -

    Public Static Functions

    -
    -
    -static void DefaultOnPrint(char*, int, Logger::Severity)
    -
    - -
    -
    -

    Friends

    -
    -
    -friend class Endl
    -
    - -
    -
    -friend class Logger
    -
    - -
    -
    - -
    -
    - - -
    -
    - -
    -
    -
    -
    - - - - \ No newline at end of file diff --git a/api/classcartesian__utils.html b/api/classcartesian__utils.html index 34a0b7b5..2d8188ef 100644 --- a/api/classcartesian__utils.html +++ b/api/classcartesian__utils.html @@ -20,7 +20,7 @@ - + @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -217,6 +216,30 @@

    Class Documentationclass cartesian_utils

    Public Static Functions

    +
    +
    +static inline int pnpoly(int nvert, float *vertx, float *verty, float testx, float testy)
    +

    pnpoly this code is EXACTLY the code of the PNPOLY - Point Inclusion in Polygon Test W.

    +

    Randolph Franklin (WRF) to test if a point is inside a plygon (https://www.ecse.rpi.edu/~wrf/Research/Short_Notes/pnpoly.html

    )

    +

    REMARKS: The vertices may be listed clockwise or anticlockwise. The first may optionally be repeated, if so nvert may optionally be increased by 1. The input polygon may be a compound polygon constisting of several separate subpolygons. If so, the first vertex of each subpolygon must be repeated, and when calculating nvert, these first vertices must be counted twice. Written by Randolph Franklin, University of Ottawa, 7/70.

    +

    +

    METHOD: A vertical line is drawn thru the point in question. If it crosses the polygon an odd number of times, then the point is inside of the polygon.

    +
    +
    Parameters
    +
      +

    • nvert – Number of vertices in the polygon

      • +

    • vertx – Arrays containing the x-coordinates of the polygon’s vertices

      • +

    • verty – Arrays containing the y-coordinates of the polygon’s vertices

      • +

    • testx – X-coordinate of the test point

      • +

    • testy – Y-coordinate of the test point

      • +
    +
    +
    Returns
    +

    -1 if the point is outside of the 0 if the point is on an edge or at a vertes 1 if the point is inside of the polygon

    +
    +
    +
    +
    static void computePanTiltMatrix(const Eigen::VectorXd &gaze, KDL::Frame &pan_tilt_matrix)
    @@ -266,6 +289,51 @@

    Class Documentation +
    +static Eigen::VectorXd computeGradient(const Eigen::VectorXd &x, CostFunction &fun, const double &step = 1E-3)
    +

    computeGradient compute numerical gradient of a function using 2 points formula:

    +

          f(x+h) - f(x-h)
+
    +
    + df(x)= ————-&#8212; 2h

    +
    +
    Parameters
    +
      +

    • x – points around gradient is compute

      • +

    • fun – function to derive

      • +

    • step – step of gradient

      • +
    +
    +
    Returns
    +

    vector of gradient

    +
    +
    +

    + +
    +
    +static Eigen::VectorXd computeGradient(const Eigen::VectorXd &x, CostFunction &fun, const std::vector<bool> &jointMask, const double &step = 1E-3)
    +

    computeGradient compute numerical gradient of a function using 2 points formula:

    +

          f(x+h) - f(x-h)
+
    +
    + df(x)= ————-&#8212; 2h

    +
    +
    Parameters
    +
      +

    • x – points around gradient is compute

      • +

    • fun – function to derive

      • +

    • jointMask – the joints over which we want to compute the gradient

      • +

    • step – step of gradient

      • +
    +
    +
    Returns
    +

    vector of gradient

    +
    +
    +
    +

    @@ -277,7 +345,7 @@

    Class Documentation - +
    diff --git a/api/classconvex__hull.html b/api/classconvex__hull.html index 3c9fb8d6..ec2bc61c 100644 --- a/api/classconvex__hull.html +++ b/api/classconvex__hull.html @@ -21,7 +21,7 @@ - + @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -228,8 +227,8 @@

    Class Documentation -
    -bool getSupportPolygonPoints(std::list<Eigen::Vector3d> &points, const std::list<std::string> links_in_contact, const XBot::ModelInterface &model, const std::string referenceFrame = "COM")
    +
    +bool getSupportPolygonPoints(std::list<KDL::Vector> &points, const std::list<std::string> links_in_contact, const XBot::ModelInterface &model, const std::string referenceFrame = "COM")

    getSupportPolygonPoints given a vector of reference frames that we consider in contact wit the ground, it return a list of points express in the specified frame referenceFrame.

    By default it is the frame COM, oriented like the world frame and with origin on the CoM Notice the polygon points are not projected on the support surface.

    @@ -251,8 +250,8 @@

    Class Documentation -
    -bool getConvexHull(const std::list<Eigen::Vector3d> &points, std::vector<Eigen::Vector3d> &ch)
    +
    +bool getConvexHull(const std::list<KDL::Vector> &points, std::vector<KDL::Vector> &ch)

    getConvexHull returns a minimum representation of the convex hull

    Parameters
    @@ -277,7 +276,7 @@

    Class Documentation - + diff --git a/api/classXBot_1_1Endl.html b/api/classfcl_1_1CollisionObject.html similarity index 83% rename from api/classXBot_1_1Endl.html rename to api/classfcl_1_1CollisionObject.html index ed174c8b..9dc5e11d 100644 --- a/api/classXBot_1_1Endl.html +++ b/api/classfcl_1_1CollisionObject.html @@ -3,7 +3,7 @@ - Class Endl — OpenSoT documentation + Template Class CollisionObject — OpenSoT documentation @@ -20,8 +20,8 @@ - - + + @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • @@ -195,9 +194,9 @@
    @@ -205,32 +204,18 @@
    -
    -

    Class Endl

    +
    +

    Template Class CollisionObject

    Class Documentation

    -
    -class Endl
    -

    Class handling the flushing of log messages to console.

    -
    -

    Friends

    -
    -
    -friend class LoggerClass
    -
    - -
    -
    -friend void operator<<(std::ostream &os, Endl &endl)
    +
    +template<typename Scalar>
    class CollisionObject
    -
    -
    -
    @@ -238,8 +223,8 @@

    Class Documentation - - + +

    diff --git a/api/classquaternion.html b/api/classquaternion.html index 8fb79275..62636c71 100644 --- a/api/classquaternion.html +++ b/api/classquaternion.html @@ -65,9 +65,14 @@
  • Struct stack_level
  • Struct Task::istrue
  • Class cartesian_utils
    • +
  • Class ComputeLinksDistance
    • +
  • Class ComputeLinksDistance::LinksPair
  • Class convex_hull
  • Class CostFunction
    • +
  • Template Class CollisionObject
    • +
  • Class GradientVector
  • Template Class LDLTInverse
    • +
  • Class LinkPairDistance
  • Template Class AffineHelperBase
  • Class AffineConstraint
  • Class AffineTask
    • @@ -130,7 +135,6 @@
  • Class MinJointVel
  • Class Postural
  • Class Aggregated
    • -
  • Class ConstraintToTask
  • Class Contact
  • Class IMU
  • Class Cartesian
    • @@ -144,7 +148,6 @@
  • Class AngularMomentum
  • Class Cartesian
  • Class CartesianAdmittance
    • -
  • Class CollisionAvoidance
  • Class CoM
  • Class Contact
  • Class Gaze
    • @@ -158,16 +161,12 @@
  • Class PureRolling
  • Class PureRollingOrientation
  • Class PureRollingPosition
    • -
  • Template Class SecondOrderFilter
    • -
  • Template Class SecondOrderFilterArray
    • +
  • Class ForceOptimization
  • Class InverseDynamics
  • Class MatrixPiler
  • Class Torque
  • Class quaternion
  • Template Class SVDPseudoInverse
    • -
  • Class Endl
    • -
  • Class Logger
    • -
  • Class LoggerClass
  • Enums
    • diff --git a/api/define_CartesianPositionConstraint_8h_1aafbe565fb234e1a7fb6c348a44891464.html b/api/define_CartesianPositionConstraint_8h_1aafbe565fb234e1a7fb6c348a44891464.html index 206ffcdc..bdf55098 100644 --- a/api/define_CartesianPositionConstraint_8h_1aafbe565fb234e1a7fb6c348a44891464.html +++ b/api/define_CartesianPositionConstraint_8h_1aafbe565fb234e1a7fb6c348a44891464.html @@ -84,7 +84,6 @@
  • Define PROXQP_DEFAULT_EPS_REGULARISATION
  • Define QPOASES_DEFAULT_EPS_REGULARISATION
  • Define QPSWIFT_DEFAULT_EPS_REGULARISATION
    • -
  • Define REGISTER_SO_LIB_
  • Define WORLD_FRAME_NAME
  • Define WORLD_FRAME_NAME
    • diff --git a/api/define_ConvexHull_8h_1aafbe565fb234e1a7fb6c348a44891464.html b/api/define_ConvexHull_8h_1aafbe565fb234e1a7fb6c348a44891464.html index a7311758..aa3f159e 100644 --- a/api/define_ConvexHull_8h_1aafbe565fb234e1a7fb6c348a44891464.html +++ b/api/define_ConvexHull_8h_1aafbe565fb234e1a7fb6c348a44891464.html @@ -84,7 +84,6 @@
  • Define PROXQP_DEFAULT_EPS_REGULARISATION
  • Define QPOASES_DEFAULT_EPS_REGULARISATION
  • Define QPSWIFT_DEFAULT_EPS_REGULARISATION
    • -
  • Define REGISTER_SO_LIB_
  • Define WORLD_FRAME_NAME
  • Define WORLD_FRAME_NAME
    • diff --git a/api/define_HCOD_8h_1ab984b6660eb2a62d534d96a72d13bf33.html b/api/define_HCOD_8h_1ab984b6660eb2a62d534d96a72d13bf33.html index 41c24038..bb7eda2e 100644 --- a/api/define_HCOD_8h_1ab984b6660eb2a62d534d96a72d13bf33.html +++ b/api/define_HCOD_8h_1ab984b6660eb2a62d534d96a72d13bf33.html @@ -21,7 +21,7 @@ - + @@ -84,7 +84,6 @@
  • Define PROXQP_DEFAULT_EPS_REGULARISATION
  • Define QPOASES_DEFAULT_EPS_REGULARISATION
  • Define QPSWIFT_DEFAULT_EPS_REGULARISATION
    • -
  • Define REGISTER_SO_LIB_
  • Define WORLD_FRAME_NAME
  • Define WORLD_FRAME_NAME
    • @@ -140,7 +139,7 @@

    Define Documentation

    diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h.html index bde31e98..850f10de 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Constraint.h.html @@ -104,7 +104,7 @@ #include <memory> #include <string> #include <matlogger2/matlogger2.h> -#include <xbot2_interface/logger.h> +#include <XBotInterface/Logger.hpp> #include <OpenSoT/version.h> @@ -175,7 +175,7 @@ std::string getConstraintID(){ return _constraint_id; } - virtual void update() {} + virtual void update(const Vector_type& x) {} virtual void log(XBot::MatLogger2::Ptr logger) { diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubConstraint.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubConstraint.h.html index 792eb803..c706064e 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubConstraint.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubConstraint.h.html @@ -122,7 +122,7 @@ virtual ~SubConstraint(){} - virtual void update(); + virtual void update(const Eigen::VectorXd& x); protected: Indices _subConstraintMap; diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h.html index 3300ab0d..b189faaf 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_SubTask.h.html @@ -133,7 +133,7 @@ void generateWeight(); - virtual void _update(); + virtual void _update(const Eigen::VectorXd &x); static const std::string _SUBTASK_SEPARATION_; diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h.html index bd1ff712..8e9146e4 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_Task.h.html @@ -107,8 +107,8 @@ #include <OpenSoT/Constraint.h> #include <assert.h> #include <memory> - #include <xbot2_interface/logger.h> - #include <xbot2_interface/xbotinterface2.h> + #include <XBotInterface/Logger.hpp> + #include <XBotInterface/ModelInterface.h> namespace OpenSoT { @@ -154,7 +154,7 @@ std::vector<bool> _active_joints_mask; - virtual void _update() = 0; + virtual void _update(const Vector_type &x) = 0; struct istrue //predicate { @@ -296,12 +296,12 @@ virtual const unsigned int getTaskSize() const { return _A.rows(); } - void update() { + void update(const Vector_type &x) { for(typename std::list< ConstraintPtr >::iterator i = this->getConstraints().begin(); - i != this->getConstraints().end(); ++i) (*i)->update(); - this->_update(); + i != this->getConstraints().end(); ++i) (*i)->update(x); + this->_update(x); if(!_is_active){ _A_last_active = _A; @@ -340,6 +340,23 @@ return false; } + virtual bool setActiveChainsMask(const std::vector<std::string>& active_chain_mask, + XBot::ModelInterface::ConstPtr model) + { + _active_joints_mask.assign(_active_joints_mask.size(), false); + + for(const auto& ch : active_chain_mask){ + + for(const auto& jid : model->chain(ch).getJointIds()) + { + _active_joints_mask[ model->getDofIndex(jid) ] = true; + } + } + + return true; + + } + virtual void log(XBot::MatLogger2::Ptr logger) { if(_A.rows() > 0) diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_Aggregated.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_Aggregated.h.html index c0f1074c..d577916a 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_Aggregated.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_Aggregated.h.html @@ -179,6 +179,11 @@ virtual void _log(XBot::MatLogger2::Ptr logger); public: + Aggregated(const std::list< ConstraintPtr > constraints, + const Eigen::VectorXd &q, + const unsigned int aggregationPolicy = + EQUALITIES_TO_INEQUALITIES | + UNILATERAL_TO_BILATERAL); Aggregated(const std::list<ConstraintPtr> constraints, const unsigned int x_size, @@ -193,7 +198,7 @@ EQUALITIES_TO_INEQUALITIES | UNILATERAL_TO_BILATERAL); - void update(); + void update(const Eigen::VectorXd &x); void log(XBot::MatLogger2::Ptr logger) override; diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h.html index 84d38f24..7a6cc228 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_GenericConstraint.h.html @@ -104,7 +104,7 @@ #include <OpenSoT/Constraint.h> #include <OpenSoT/utils/Affine.h> -#include <xbot2_interface/xbotinterface2.h> +#include <XBotInterface/ModelInterface.h> namespace OpenSoT { namespace constraints { @@ -138,7 +138,7 @@ bool setBounds(const Eigen::VectorXd& upper_bound, const Eigen::VectorXd& lower_bound); - virtual void update(); + virtual void update(const Eigen::VectorXd& x); Type getType(){return _type;} diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h.html index da6dc60f..cefdc960 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_TaskToConstraint.h.html @@ -129,7 +129,7 @@ const Eigen::VectorXd& err_lb, const Eigen::VectorXd& err_ub); - void update(); + void update(const Eigen::VectorXd &q); protected: diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimits.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimits.h.html index 512325f1..a87d27ca 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimits.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimits.h.html @@ -131,8 +131,6 @@ GenericConstraint::Ptr _generic_constraint_internal; - Eigen::VectorXd _zeros; - double _dt; double _p; @@ -146,7 +144,7 @@ const double dt); - void update(); + void update(const Eigen::VectorXd& x); void setJointAccMax(const Eigen::VectorXd& jointAccMax); diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsECBF.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsECBF.h.html index 028d99e4..aba7bc49 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsECBF.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsECBF.h.html @@ -141,7 +141,7 @@ const Eigen::VectorXd &jointVelMax, const Eigen::VectorXd &jointAccMax); - void update(); + void update(const Eigen::VectorXd& x); void setAlpha1(const Eigen::VectorXd& a1); void setAlpha1(const double a1); diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsViability.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsViability.h.html index 9ea6fcf8..ff21fa9e 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsViability.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_JointLimitsViability.h.html @@ -128,8 +128,6 @@ GenericConstraint::Ptr _generic_constraint_internal; - Eigen::VectorXd _zeros; - double _dt; double _p; @@ -158,7 +156,7 @@ const double dt); - void update(); + void update(const Eigen::VectorXd& x); void setJointAccMax(const Eigen::VectorXd& jointAccMax); diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_TorqueLimits.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_TorqueLimits.h.html index 3c49251d..6a3ba108 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_TorqueLimits.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_TorqueLimits.h.html @@ -86,7 +86,7 @@ #include <OpenSoT/Constraint.h> #include <OpenSoT/utils/Affine.h> -#include <xbot2_interface/xbotinterface2.h> +#include <XBotInterface/ModelInterface.h> #include <OpenSoT/constraints/GenericConstraint.h> namespace OpenSoT { namespace constraints { namespace acceleration { @@ -100,7 +100,7 @@ const std::vector<std::string>& contact_links, const Eigen::VectorXd& torque_limits); - void update(); + void update(const Eigen::VectorXd& x); void setTorqueLimits(const Eigen::VectorXd& torque_limits); diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_VelocityLimits.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_VelocityLimits.h.html index d2a9c10c..c786395b 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_VelocityLimits.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_acceleration_VelocityLimits.h.html @@ -86,7 +86,7 @@ #include <OpenSoT/Constraint.h> #include <OpenSoT/utils/Affine.h> -#include <xbot2_interface/xbotinterface2.h> +#include <XBotInterface/ModelInterface.h> #include <OpenSoT/constraints/GenericConstraint.h> namespace OpenSoT { namespace constraints { namespace acceleration { @@ -107,7 +107,7 @@ const Eigen::VectorXd& qDotLimit, const double dT); - virtual void update(); + virtual void update(const Eigen::VectorXd& x); void setVelocityLimits(const double qDotLimit); diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h.html index cb68853e..db15c714 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_CoP.h.html @@ -102,7 +102,7 @@ #define _CONSTRAINT_FORCE_COP_H_ #include <OpenSoT/Constraint.h> -#include <xbot2_interface/xbotinterface2.h> +#include <XBotInterface/ModelInterface.h> #include <kdl/frames.hpp> #include <OpenSoT/utils/Affine.h> #include <OpenSoT/utils/Piler.h> @@ -124,11 +124,9 @@ const Eigen::Vector2d& X_Lims, const Eigen::Vector2d& Y_Lims); - virtual void update(); - - private: + virtual void update(const Eigen::VectorXd& x); std::string _contact_link; @@ -160,7 +158,9 @@ const std::vector<Eigen::Vector2d>& X_Lims, const std::vector<Eigen::Vector2d>& Y_Lims); - void update(); + CoP::Ptr getCoP(const std::string& contact_name); + + void update(const Eigen::VectorXd &x); private: diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h.html index a4a7aab9..916833b2 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_FrictionCone.h.html @@ -103,7 +103,7 @@ #include <OpenSoT/Constraint.h> -#include <xbot2_interface/xbotinterface2.h> +#include <XBotInterface/ModelInterface.h> #include <kdl/frames.hpp> #include <OpenSoT/utils/Affine.h> #include <OpenSoT/constraints/Aggregated.h> @@ -144,7 +144,7 @@ const friction_cone & mu); - void update(); + void update(const Eigen::VectorXd &x); void setFrictionCone(const friction_cone& frc); @@ -170,7 +170,7 @@ FrictionCone::Ptr getFrictionCone(const std::string& contact_name); - void update(); + void update(const Eigen::VectorXd &x); private: std::map<std::string, FrictionCone::Ptr> _friction_cone_map; diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h.html index ac3e1c23..3100b330 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_NormalTorque.h.html @@ -102,7 +102,7 @@ #define _CONSTRAINT_NORMAL_TORQUE_LIMITS_H_ #include <OpenSoT/Constraint.h> -#include <xbot2_interface/xbotinterface2.h> +#include <XBotInterface/ModelInterface.h> #include <kdl/frames.hpp> #include <OpenSoT/utils/Affine.h> #include <OpenSoT/utils/Piler.h> @@ -124,7 +124,7 @@ const Eigen::Vector2d& Y_Lims, const double& mu); - void update(); + void update(const Eigen::VectorXd &x); void setMu(const double mu); @@ -165,7 +165,7 @@ NormalTorque::Ptr getNormalTorque(const std::string& contact_name); - void update(); + void update(const Eigen::VectorXd &x); private: std::map<std::string, NormalTorque::Ptr> _normal_torque_map; diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_StaticConstraint.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_StaticConstraint.h.html index 477f7027..d487fb4c 100644 --- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_StaticConstraint.h.html +++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_StaticConstraint.h.html @@ -84,7 +84,7 @@ 
    #include <OpenSoT/utils/Affine.h>
 #include <OpenSoT/Constraint.h>
 
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 
 namespace OpenSoT { namespace constraints { namespace force {
 
@@ -100,7 +100,7 @@
 
     private:
 
-        void update() override;
+        void update(const Eigen::VectorXd& x) override;
 
         const XBot::ModelInterface& _robot;
         std::vector<std::string> _contact_links;
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_WrenchLimits.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_WrenchLimits.h.html
index 3e26f351..3793be30 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_WrenchLimits.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_force_WrenchLimits.h.html
@@ -130,7 +130,7 @@
                              const Eigen::VectorXd& upperLims,
                              AffineHelper wrench);
 
-                void getWrenchLimits(Eigen::VectorXd& lowerLims, Eigen::VectorXd& upperLims) const;
+                void getWrenchLimits(Eigen::VectorXd& lowerLims, Eigen::VectorXd& upperLims);
 
                 void setWrenchLimits(const Eigen::VectorXd& lowerLims, const Eigen::VectorXd& upperLims);
 
@@ -162,7 +162,7 @@
 
                 WrenchLimits::Ptr getWrenchLimits(const std::string& contact_name);
 
-                void update();
+                void update(const Eigen::VectorXd &x);
 
             private:
                 std::map<std::string, WrenchLimits::Ptr> _wrench_lims_constraints;
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianPositionConstraint.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianPositionConstraint.h.html
index b202ee97..fa56e94f 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianPositionConstraint.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianPositionConstraint.h.html
@@ -136,7 +136,7 @@
                                              const Eigen::VectorXd& b_Cartesian,
                                             const double boundScaling = 1.0);
 
-                void update();
+                void update(const Eigen::VectorXd &x);
 
                 void getCurrentPosition(Eigen::VectorXd& current_position);
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianVelocity.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianVelocity.h.html
index b8bf03f4..955e5151 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianVelocity.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CartesianVelocity.h.html
@@ -132,7 +132,7 @@
                                   const double dT,
                                   const OpenSoT::tasks::velocity::CoM::Ptr& task);
 
-                virtual void update();
+                virtual void update(const Eigen::VectorXd &x);
 
                 const Eigen::VectorXd& getVelocityLimits() const;
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.html
index 89c18264..c6586d11 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_CollisionAvoidance.h.html
@@ -103,14 +103,25 @@
 
 #include <OpenSoT/Constraint.h>
 #include <OpenSoT/tasks/velocity/Cartesian.h>
-#include <xbot2_interface/xbotinterface2.h>
-#include <xbot2_interface/collision.h>
+#include <XBotInterface/ModelInterface.h>
 
 #include <srdfdom/model.h>
 #include <Eigen/Dense>
 
 #include <moveit_msgs/PlanningSceneWorld.h>
 
+class ComputeLinksDistance;
+class LinkPairDistance;
+
+// forward declare fcl collision object
+namespace fcl
+{
+    template <typename Scalar>
+    class CollisionObject;
+
+    using CollisionObjectd = CollisionObject<double>;
+}
+
 namespace OpenSoT { namespace constraints { namespace velocity {
 
 class CollisionAvoidance: public Constraint<Eigen::MatrixXd, Eigen::VectorXd>
@@ -120,70 +131,49 @@
 
     typedef std::shared_ptr<CollisionAvoidance> Ptr;
     typedef std::pair<std::string, std::string> LinksPair;
-    typedef XBot::Collision::CollisionModel::WitnessPointVector WitnessPointVector;
-    typedef XBot::Collision::CollisionModel::LinkPairVector LinkPairVector;
 
-    CollisionAvoidance(const XBot::ModelInterface& robot,
-                       int max_pairs = -1,
-                       urdf::ModelConstSharedPtr collision_urdf = nullptr,
-                       srdf::ModelConstSharedPtr collision_srdf = nullptr);
+    CollisionAvoidance(const Eigen::VectorXd& x,
+                           const XBot::ModelInterface& robot,
+                           int max_pairs = -1,
+                           urdf::ModelConstSharedPtr collision_urdf = nullptr,
+                           srdf::ModelConstSharedPtr collision_srdf = nullptr);
 
     double getLinkPairThreshold();
 
-    void getError(Eigen::VectorXd& e);
-
     double getDetectionThreshold();
 
     void setLinkPairThreshold(const double linkPair_threshold);
 
     void setDetectionThreshold(const double detection_threshold);
 
-    void update();
-
-
-    void setMaxPairs(const unsigned int max_pairs);
+    void update(const Eigen::VectorXd &x);
 
-    void setCollisionList(std::set<std::pair<std::string, std::string>> collisionList);
 
+    bool setCollisionWhiteList(std::list<LinksPair> whiteList);
 
+    bool setCollisionBlackList(std::list<LinksPair> blackList);
 
-    void collisionModelUpdated();
+    bool setWorldCollisions(const moveit_msgs::PlanningSceneWorld& wc);
 
-    bool addCollisionShape(const std::string& name,
-                           const std::string& link,
-                           const XBot::Collision::Shape::Variant& shape,
-                           const Eigen::Affine3d& link_T_shape,
-                           const std::vector<std::string>& disabled_collisions = {});
+    bool addWorldCollision(const std::string& id,
+                           std::shared_ptr<fcl::CollisionObjectd> fcl_obj);
 
-    // /**
-    //  * @brief remove world collision with given id
-    //  */
-    // bool removeWorldCollision(const std::string& id);
+    bool removeWorldCollision(const std::string& id);
 
-     bool moveCollisionShape(const std::string& id, const Eigen::Affine3d& new_pose);
+    bool moveWorldCollision(const std::string& id,
+                            KDL::Frame new_pose);
 
     void setBoundScaling(const double boundScaling);
 
-    void setLinksVsEnvironment(const std::set<std::string>& links);
+    void setLinksVsEnvironment(const std::list<std::string>& links);
 
-    XBot::Collision::CollisionModel& getCollisionModel();
 
-    const XBot::Collision::CollisionModel& getCollisionModel() const;
-
-    void getOrderedWitnessPointVector(WitnessPointVector& wp) const;
-
-    void getOrderedLinkPairVector(LinkPairVector& lp) const;
-
-    void getOrderedDistanceVector(std::vector<double>& d) const;
-
-    const Eigen::MatrixXd& getCollisionJacobian() const;
+    const std::list<LinkPairDistance>& getLinkPairDistances(){ return _distance_list;}
 
     ~CollisionAvoidance();
 
 protected:
 
-    bool _include_env;
-
     double _bound_scaling;
 
     double _distance_threshold;
@@ -194,18 +184,14 @@
 
     const XBot::ModelInterface& _robot;
 
-    XBot::ModelInterface::Ptr _collision_model;
-
-    std::unique_ptr<XBot::Collision::CollisionModel> _dist_calc;
+    std::unique_ptr<ComputeLinksDistance> _dist_calc;
 
-    Eigen::VectorXd _distances;
-    Eigen::MatrixXd _distance_J;
-    int _num_active_pairs;
-    mutable WitnessPointVector _wpv;
-    mutable LinkPairVector _lpv;
+    Eigen::VectorXd _x_cache;
 
     Eigen::MatrixXd _Jtmp;
 
+    std::list<LinkPairDistance> _distance_list;
+
 };
 
 } } }
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_ConvexHull.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_ConvexHull.h.html
index 0884cb3f..07ef4281 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_ConvexHull.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_ConvexHull.h.html
@@ -105,7 +105,7 @@
  #include <OpenSoT/tasks/velocity/CoM.h>
  #include <kdl/frames.hpp>
  #include <Eigen/Dense>
- #include <xbot2_interface/xbotinterface2.h>
+ #include <XBotInterface/ModelInterface.h>
  #include <OpenSoT/utils/convex_hull_utils.h>
 
 #define BOUND_SCALING 0.01
@@ -125,30 +125,31 @@
                 XBot::ModelInterface &_robot;
                 double _boundScaling;
                 std::shared_ptr<convex_hull> _convex_hull;
-                std::vector<Eigen::Vector3d> _ch;
+                std::vector<KDL::Vector> _ch;
                 std::list<std::string> _links_in_contact;
                 Eigen::MatrixXd _JCoM;
                 Eigen::MatrixXd _C;
-                std::list<Eigen::Vector3d> _points;
-                std::vector<Eigen::Vector3d> _tmp_ch;
+                std::list<KDL::Vector> _points;
+                std::vector<KDL::Vector> _tmp_ch;
 
             public:
-                ConvexHull( XBot::ModelInterface& robot,
+                ConvexHull( const Eigen::VectorXd& x,
+                            XBot::ModelInterface& robot,
                             const std::list<std::string>& links_in_contact,
                             const double safetyMargin = BOUND_SCALING);
 
-                static void getConstraints(const std::vector<Eigen::Vector3d> &points,
+                static void getConstraints(const std::vector<KDL::Vector> &points,
                                             Eigen::MatrixXd& A, Eigen::VectorXd& b,
                                             const double boundScaling = BOUND_SCALING);
 
-                static void getLineCoefficients(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1,
+                static void getLineCoefficients(const KDL::Vector &p0, const KDL::Vector &p1,
                                                 double &a, double& b, double &c);
 
-                bool getConvexHull(std::vector<Eigen::Vector3d>& ch);
+                bool getConvexHull(std::vector<KDL::Vector>& ch);
 
                 void setSafetyMargin(const double safetyMargin);
 
-                void update();
+                void update(const Eigen::VectorXd &x);
 
                 std::list<std::string> getLinksInContact()
                 {
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimits.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimits.h.html
index e4b6b03f..e5267495 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimits.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimits.h.html
@@ -102,7 +102,7 @@
 #define __BOUNDS_VELOCITY_JOINTLIMITS_H__
 
  #include <OpenSoT/Constraint.h>
- #include <xbot2_interface/xbotinterface2.h>
+ #include <Eigen/Dense>
 
 
  namespace OpenSoT {
@@ -112,18 +112,16 @@
             public:
                 typedef std::shared_ptr<JointLimits> Ptr;
             private:
-                const XBot::ModelInterface& _robot;
                 double _boundScaling;
                 Eigen::VectorXd _jointLimitsMin;
                 Eigen::VectorXd _jointLimitsMax;
-                Eigen::VectorXd _dq;
             public:
-                JointLimits(const XBot::ModelInterface& robot,
+                JointLimits(const Eigen::VectorXd &q,
                             const Eigen::VectorXd &jointBoundMax,
                             const Eigen::VectorXd &jointBoundMin,
                             const double boundScaling = 1.0);
 
-                void update();
+                void update(const Eigen::VectorXd &x);
                 void setBoundScaling(const double boundScaling);
             };
         }
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimitsInvariace.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimitsInvariace.h.html
index 1ad432b1..e314ca77 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimitsInvariace.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_JointLimitsInvariace.h.html
@@ -102,7 +102,7 @@
 #define __BOUNDS_VELOCITY_JOINTLIMITS_INVARIANCE_H__
 
 #include <OpenSoT/Constraint.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 #include <Eigen/Dense>
 
  namespace OpenSoT {
@@ -116,16 +116,16 @@
                 Eigen::VectorXd _jointLimitsMin;
                 Eigen::VectorXd _jointLimitsMax;
 
-                Eigen::VectorXd _qdot_prev, _q, _zeros;
+                Eigen::VectorXd _qdot_prev;
 
                 Eigen::VectorXd _jointAccMax;
 
                 const XBot::ModelInterface& _robot;
 
-                double _lb, _ub, _acc_lim, _via_lim, _d;
+                double _lb, _ub, _acc_lim, _pos_lim, _via_lim, _d;
                 int _ac_lb, _ac_ub;
 
-                Eigen::VectorXd _active_constraint_lb, _active_constraint_ub, _pos_lim_sup, _pos_lim_inf;
+                Eigen::VectorXd _active_constraint_lb, _active_constraint_ub;
 
                 enum active_constraint {
                     pos_lim = 1,
@@ -145,14 +145,15 @@
                 double _p;
 
             public:
-                JointLimitsInvariance(const Eigen::VectorXd &jointBoundMax,
+                JointLimitsInvariance(const Eigen::VectorXd &q,
+                            const Eigen::VectorXd &jointBoundMax,
                             const Eigen::VectorXd &jointBoundMin,
                             const Eigen::VectorXd &jointAccMax,
                             XBot::ModelInterface& robot,
                             const double dt);
 
 
-                void update();
+                void update(const Eigen::VectorXd& x);
 
                 void setJointAccMax(const Eigen::VectorXd& jointAccMax);
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_OmniWheels4X.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_OmniWheels4X.h.html
index 3633b9bf..71f91469 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_OmniWheels4X.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_OmniWheels4X.h.html
@@ -102,7 +102,7 @@
 #define __BOUNDS_OMNIWHEEL4X_H__
 
  #include <OpenSoT/Constraint.h>
- #include <xbot2_interface/xbotinterface2.h>
+ #include <XBotInterface/ModelInterface.h>
 
 namespace OpenSoT {
    namespace constraints {
@@ -114,8 +114,9 @@
            OmniWheels4X(const double l1, const double l2, const double r,
                        const std::vector<std::string> joint_wheels_name,
                        const std::string base_link,
+                       const Eigen::VectorXd& x,
                        XBot::ModelInterface& robot);
-           virtual void update();
+           virtual void update(const Eigen::VectorXd &x);
 
 
        private:
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_VelocityLimits.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_VelocityLimits.h.html
index 29010f9b..a0b86367 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_VelocityLimits.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_velocity_VelocityLimits.h.html
@@ -103,8 +103,6 @@
 
  #include <OpenSoT/Constraint.h>
 #include <Eigen/Dense>
-#include <xbot2_interface/xbotinterface2.h>
-
 
  namespace OpenSoT {
     namespace constraints {
@@ -116,12 +114,10 @@
                 double _qDotLimit;
                 double _dT;
             public:
-                VelocityLimits(const XBot::ModelInterface& robot,
-                               const double qDotLimit,
-                               const double dT);
-
-                VelocityLimits(const XBot::ModelInterface& robot,
-                               const Eigen::VectorXd& qDotLimit,
+                VelocityLimits(const double qDotLimit,
+                               const double dT,
+                               const unsigned int x_size);
+                VelocityLimits(const Eigen::VectorXd& qDotLimit,
                                const double dT);
 
                 Eigen::VectorXd getVelocityLimits();
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEnd.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEnd.h.html
index 40564f60..3d675613 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEnd.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_BackEnd.h.html
@@ -85,7 +85,7 @@
 #define _WB_SOT_SOLVERS_BACK_END_H_
 
 #include <Eigen/Dense>
-#include <xbot2_interface/logger.h>
+#include <XBotInterface/Logger.hpp>
 #include <boost/any.hpp>
 #include <OpenSoT/Task.h>
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_HCOD.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_HCOD.h.html
index 2e835209..12329307 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_HCOD.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_HCOD.h.html
@@ -116,7 +116,7 @@
 
                 void setDisableWeightsComputation(const bool disable);
 
-                bool getDisableWeightsComputation();
+                bool setDisableWeightsComputation();
 
                 void setDamping(double damping);
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_l1HQP.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_l1HQP.h.html
index 359b462e..16bfa298 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_l1HQP.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_solvers_l1HQP.h.html
@@ -110,7 +110,7 @@
         priority_constraint(const std::string& id,
                             const OpenSoT::tasks::GenericLPTask::Ptr high_priority_task,
                             const OpenSoT::tasks::GenericLPTask::Ptr low_priority_task);
-        void update();
+        void update(const Eigen::VectorXd& x);
     private:
         std::weak_ptr<OpenSoT::tasks::GenericLPTask> _high_task;
         std::weak_ptr<OpenSoT::tasks::GenericLPTask> _low_task;
@@ -126,7 +126,7 @@
         constraint_helper(std::string id, OpenSoT::constraints::Aggregated::ConstraintPtr constraints,
                           const AffineHelper& x);
 
-        void update();
+        void update(const Eigen::VectorXd& x);
     private:
         OpenSoT::constraints::Aggregated::ConstraintPtr _constraints;
         AffineHelper _constraint;
@@ -146,7 +146,7 @@
         task_to_constraint_helper(std::string id, OpenSoT::tasks::Aggregated::TaskPtr& task,
                                   const AffineHelper& x, const AffineHelper& t);
 
-        void update();
+        void update(const Eigen::VectorXd& x);
     private:
         OpenSoT::tasks::Aggregated::TaskPtr& _task;
         AffineHelper _constraint;
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h.html
index 6800adc0..9f5fcdfb 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_Aggregated.h.html
@@ -160,10 +160,12 @@
             Aggregated(TaskPtr task,
                        const unsigned int x_size);
 
+            Aggregated(const std::list< TaskPtr > tasks,
+                       const Eigen::VectorXd &q);
 
             ~Aggregated();
 
-            void _update();
+            void _update(const Eigen::VectorXd &x);
 
 
             std::list< ConstraintPtr >& getOwnConstraints() { return _ownConstraints; }
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h.html
index f88c878b..167d64e1 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericLPTask.h.html
@@ -87,7 +87,7 @@
 #include <OpenSoT/Task.h>
 #include <OpenSoT/utils/Affine.h>
 #include <OpenSoT/tasks/GenericTask.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 
 namespace OpenSoT { namespace tasks  {
 
@@ -103,7 +103,7 @@
 
     ~GenericLPTask();
 
-    virtual void _update();
+    virtual void _update(const Eigen::VectorXd &x);
 
     bool setc(const Eigen::VectorXd& c);
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h.html
index bdecf8dc..4fede0b4 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_GenericTask.h.html
@@ -86,7 +86,7 @@
 
 #include <OpenSoT/Task.h>
 #include <OpenSoT/utils/Affine.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 
 namespace OpenSoT { namespace tasks  {
 
@@ -104,7 +104,7 @@
 
     ~GenericTask();
 
-    virtual void _update();
+    virtual void _update(const Eigen::VectorXd &x);
 
     bool setA(const Eigen::MatrixXd& A);
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h.html
index c229d010..85e20646 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_MinimizeVariable.h.html
@@ -104,7 +104,7 @@
 
 #include <OpenSoT/Task.h>
 #include <OpenSoT/utils/Affine.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 
 namespace OpenSoT { namespace tasks  {
 
@@ -120,7 +120,7 @@
 
     bool setReference(const Eigen::VectorXd& ref);
 
-    virtual void _update();
+    virtual void _update(const Eigen::VectorXd& x);
 
     void getReference(Eigen::VectorXd& ref);
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h.html
index 8514fb47..e4fb7651 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_AngularMomentum.h.html
@@ -102,7 +102,7 @@
 #define __TASKS_ACCELERATION_ANGULAR_MOMENTUM_H__
 
 #include <OpenSoT/Task.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 #include <Eigen/Dense>
 #include <OpenSoT/utils/Affine.h>
 
@@ -127,7 +127,7 @@
            Eigen::MatrixXd _Mom;
            Eigen::Matrix3d _K;
 
-           void _update();
+           void _update(const Eigen::VectorXd& x);
 
            std::string _base_link;
            std::string _distal_link;
@@ -158,8 +158,6 @@
 
            const std::string& getDistalLink() const;
 
-           bool reset();
-
            static bool isAngularMomentum(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task);
 
            static OpenSoT::tasks::acceleration::AngularMomentum::Ptr asAngularMomentum(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task);
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Cartesian.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Cartesian.h.html
index 41743a5b..b16a626d 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Cartesian.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Cartesian.h.html
@@ -103,10 +103,10 @@
 
 #include <OpenSoT/Task.h>
 #include <OpenSoT/utils/Affine.h>
-#include <xbot2_interface/xbotinterface2.h>
-#include <xbot2_interface/common/utils.h>
+#include <XBotInterface/ModelInterface.h>
+#include <XBotInterface/Utils.h>
 #include <OpenSoT/tasks/acceleration/GainType.h>
-#include <kdl/frames.hpp>
+
 
 namespace OpenSoT { namespace tasks { namespace acceleration {
 
@@ -117,6 +117,7 @@
         typedef std::shared_ptr<Cartesian> Ptr;
 
         Cartesian(const std::string task_id,
+                  const Eigen::VectorXd& x,
                   const XBot::ModelInterface& robot,
                   const std::string& distal_link,
                   const std::string& base_link
@@ -156,20 +157,20 @@
         void setVirtualForce(const Eigen::Vector6d& virtual_force_ref);
 
 
-        void getReference(Eigen::Affine3d& ref) const;
-        void getReference(KDL::Frame& ref) const;
+        void getReference(Eigen::Affine3d& ref);
+        void getReference(KDL::Frame& ref);
 
         void getReference(Eigen::Affine3d& desiredPose,
-                          Eigen::Vector6d& desiredTwist) const;
+                          Eigen::Vector6d& desiredTwist);
         void getReference(KDL::Frame& desiredPose,
-                          KDL::Twist& desiredTwist) const;
+                          KDL::Twist& desiredTwist);
 
         void getReference(Eigen::Affine3d& desiredPose,
                           Eigen::Vector6d& desiredTwist,
-                          Eigen::Vector6d& desiredAcceleration) const;
+                          Eigen::Vector6d& desiredAcceleration);
         void getReference(KDL::Frame& desiredPose,
                           KDL::Twist& desiredTwist,
-                          KDL::Twist& desiredAcceleration) const;
+                          KDL::Twist& desiredAcceleration);
 
         const Eigen::Vector6d& getCachedVelocityReference() const;
 
@@ -177,16 +178,19 @@
 
         const Eigen::Vector6d& getCachedVirtualForceReference() const;
 
-        const Eigen::Affine3d& getActualPose() const;
-        void getActualPose(Eigen::Affine3d& actual) const;
+
+        void getActualPose(Eigen::Affine3d& actual);
         void getActualPose(KDL::Frame& actual);
 
-        const Eigen::Vector6d& getActualTwist() const;
-        void getActualTwist(Eigen::Vector6d& actual) const;
+        void getActualTwist(Eigen::Vector6d& actual);
         void getActualTwist(KDL::Twist& actual);
 
         bool reset();
 
+        virtual void _update(const Eigen::VectorXd& x);
+
+        virtual void _log(XBot::MatLogger2::Ptr logger);
+
         void setLambda(double lambda1, double lambda2);
         virtual void setLambda(double lambda);
 
@@ -265,10 +269,6 @@
 
         Eigen::MatrixXd _tmpMatrixXd;
         Eigen::MatrixXd _Bi;
-
-        virtual void _update();
-        virtual void _log(XBot::MatLogger2::Ptr logger);
-
     };
 
 } } }
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_CoM.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_CoM.h.html
index 9cbdb028..ec695f16 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_CoM.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_CoM.h.html
@@ -103,8 +103,8 @@
 
 #include <OpenSoT/Task.h>
 #include <OpenSoT/utils/Affine.h>
-#include <xbot2_interface/xbotinterface2.h>
-#include <xbot2_interface/common/utils.h>
+#include <XBotInterface/ModelInterface.h>
+#include <XBotInterface/Utils.h>
 
 
 namespace OpenSoT { namespace tasks { namespace acceleration {
@@ -114,7 +114,7 @@
 
         typedef std::shared_ptr<CoM> Ptr;
 
-        CoM(const XBot::ModelInterface& robot);
+        CoM(const XBot::ModelInterface& robot, const Eigen::VectorXd& x);
 
         CoM(const XBot::ModelInterface& robot, const AffineHelper& qddot);
 
@@ -129,16 +129,18 @@
                           const Eigen::Vector3d& vel_ref,
                           const Eigen::Vector3d& acc_ref);
 
-        void getReference(Eigen::Vector3d& ref) const;
-        void getReference(Eigen::Vector3d& pos_ref, Eigen::Vector3d& vel_ref) const;
-        void getReference(Eigen::Vector3d& pos_ref, Eigen::Vector3d& vel_ref, Eigen::Vector3d& acc_ref) const;
+        void getReference(Eigen::Vector3d& ref);
 
-        void getActualPose(Eigen::Vector3d& actual) const;
+        void getActualPose(Eigen::Vector3d& actual);
 
-        void getPosError(Eigen::Vector3d& error) const;
+        void getPosError(Eigen::Vector3d& error);
 
         bool reset() override;
 
+        virtual void _update(const Eigen::VectorXd& x);
+
+        virtual void _log(XBot::MatLogger2::Ptr logger);
+
         void setLambda(double lambda1, double lambda2);
 
         virtual void setLambda(double lambda);
@@ -180,11 +182,6 @@
 
         void resetReference();
 
-        virtual void _update();
-
-        virtual void _log(XBot::MatLogger2::Ptr logger);
-
-
 
     };
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Contact.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Contact.h.html
index 33cd674c..649cc44e 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Contact.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Contact.h.html
@@ -103,8 +103,8 @@
 
 #include <OpenSoT/Task.h>
 #include <OpenSoT/utils/Affine.h>
-#include <xbot2_interface/xbotinterface2.h>
-#include <xbot2_interface/common/utils.h>
+#include <XBotInterface/ModelInterface.h>
+#include <XBotInterface/Utils.h>
 
 
 namespace OpenSoT { namespace tasks { namespace acceleration {
@@ -118,6 +118,7 @@
         Contact(const std::string& task_id,
                 const XBot::ModelInterface& robot,
                 const std::string& contact_link,
+                const Eigen::VectorXd& x,
                 const Eigen::MatrixXd& contact_matrix = Eigen::MatrixXd()
                 );
 
@@ -129,7 +130,7 @@
                  );
 
 
-        virtual void _update();
+        virtual void _update(const Eigen::VectorXd& x);
 
         virtual void _log(XBot::MatLogger2::Ptr logger);
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_DynamicFeasibility.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_DynamicFeasibility.h.html
index e75803e7..d35525e1 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_DynamicFeasibility.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_DynamicFeasibility.h.html
@@ -86,7 +86,7 @@
 
 #include <OpenSoT/Task.h>
 #include <OpenSoT/utils/Affine.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 
 namespace OpenSoT {
     namespace tasks {
@@ -114,7 +114,7 @@
             Eigen::VectorXd checkTask(const Eigen::VectorXd& x);
 
         private:
-                virtual void _update();
+                virtual void _update(const Eigen::VectorXd& x);
 
                 const XBot::ModelInterface& _robot;
                 AffineHelper _qddot;
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_MinJointVel.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_MinJointVel.h.html
index 52ae6da9..f32593f8 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_MinJointVel.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_MinJointVel.h.html
@@ -109,7 +109,7 @@
         OpenSoT::tasks::acceleration::Postural::Ptr _postural;
         Eigen::MatrixXd I;
 
-        virtual void _update();
+        virtual void _update(const Eigen::VectorXd& x);
 
 
     };
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Postural.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Postural.h.html
index bee41338..ee271a6e 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Postural.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_acceleration_Postural.h.html
@@ -104,7 +104,7 @@
 
 #include <OpenSoT/Task.h>
 #include <OpenSoT/utils/Affine.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 #include <OpenSoT/tasks/acceleration/GainType.h>
 
 namespace OpenSoT { namespace tasks { namespace acceleration {
@@ -116,14 +116,16 @@
         typedef std::shared_ptr<Postural> Ptr;
 
         Postural(const XBot::ModelInterface& robot,
-                 AffineHelper qddot, const std::string task_id = "Postural");
+                 AffineHelper qddot = AffineHelper(), const std::string task_id = "Postural");
 
         Postural(const XBot::ModelInterface& robot,
-                 const std::string task_id = "Postural");
+                 const int x_size, const std::string task_id = "Postural");
 
         void setGainType(GainType type);
         GainType getGainType() const;
 
+        virtual void _update(const Eigen::VectorXd& x);
+
         void setReference(const Eigen::VectorXd& qref);
         void setReference(const Eigen::VectorXd& qref, const Eigen::VectorXd& dqref);
         void setReference(const Eigen::VectorXd& qref, const Eigen::VectorXd& dqref,
@@ -154,6 +156,8 @@
 
         bool reset();
 
+        virtual void _log(XBot::MatLogger2::Ptr logger);
+
         const Eigen::VectorXd& getCachedVelocityReference() const;
 
         const Eigen::VectorXd& getCachedAccelerationReference() const;
@@ -181,6 +185,7 @@
         AffineHelper _postural_task;
 
         Eigen::VectorXd _qddot_d, _qddot_ref, _qref, _qdot, _q, _qdot_ref, _qdot_ref_cached, _qddot_ref_cached;
+        Eigen::MatrixXd _Jpostural;
 
         double _lambda2;
 
@@ -188,11 +193,6 @@
 
         Eigen::MatrixXd _Mi;
 
-        virtual void _update();
-        virtual void _log(XBot::MatLogger2::Ptr logger);
-
-
-
 
     };
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_Contact.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_Contact.h.html
index 5a12e799..4ce51fbc 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_Contact.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_Contact.h.html
@@ -102,7 +102,7 @@
 #define _OPENSOT_FLOATING_BASE_CONTACT_ESTIMATION_
 
 #include <OpenSoT/Task.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 
 namespace OpenSoT{
     namespace tasks{
@@ -116,7 +116,7 @@
                         const Eigen::MatrixXd& contact_matrix = Eigen::MatrixXd::Identity(6,6),
                         const Eigen::Affine3d& desired_contact_pose = Eigen::Affine3d::Identity() );
                 ~Contact();
-                virtual void _update();
+                virtual void _update(const Eigen::VectorXd& x);
 
                 void setLinkInContact(const std::string link_in_contact);
                 const std::string& getLinkInContact() const;
@@ -124,7 +124,7 @@
             private:
                 std::string _link_in_contact;
                 XBot::ModelInterface& _robot;
-                Eigen::MatrixXd _J, _Jrot;
+                Eigen::MatrixXd _J;
                 Eigen::MatrixXd _Jcontact;
                 Eigen::VectorXd _dqm;
                 Eigen::MatrixXd _contact_matrix;
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_IMU.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_IMU.h.html
index cbfbd8d5..bd213788 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_IMU.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_floating_base_IMU.h.html
@@ -102,7 +102,7 @@
 #define _OPENSOT_TASK_FLOATING_BASE_IMU_
 
 #include <OpenSoT/Task.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 
 namespace OpenSoT{
     namespace tasks{
@@ -113,7 +113,7 @@
                 IMU(XBot::ModelInterface& robot, XBot::ImuSensor::ConstPtr imu);
                 ~IMU();
 
-                void _update();
+                void _update(const Eigen::VectorXd& x);
 
             private:
                 Eigen::MatrixXd _J;
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Cartesian.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Cartesian.h.html
index b741b8bf..9b47acd9 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Cartesian.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Cartesian.h.html
@@ -86,8 +86,8 @@
 
 #include <OpenSoT/Task.h>
 #include <OpenSoT/utils/Affine.h>
-#include <xbot2_interface/xbotinterface2.h>
-#include <xbot2_interface/common/utils.h>
+#include <XBotInterface/ModelInterface.h>
+#include <XBotInterface/Utils.h>
 
 namespace OpenSoT { namespace tasks { namespace force {
 
@@ -127,7 +127,7 @@
 
     static const std::string world_name;
 
-    virtual void _update();
+    virtual void _update(const Eigen::VectorXd& x);
     virtual void _log(XBot::MatLogger2::Ptr logger);
 
     const XBot::ModelInterface& _robot;
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_CoM.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_CoM.h.html
index fb2d4d1c..f363b423 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_CoM.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_CoM.h.html
@@ -102,7 +102,7 @@
 #define __TASKS_FORCE_COM_H__
 
 #include <OpenSoT/Task.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 #include <kdl/frames.hpp>
 #include <OpenSoT/utils/Affine.h>
 
@@ -123,6 +123,7 @@
 
                 virtual void _log(XBot::MatLogger2::Ptr logger);
 
+                AffineHelper _wrenches;
                 AffineHelper _com_task;
 
                 XBot::ModelInterface& _robot;
@@ -169,7 +170,9 @@
                 Eigen::Vector3d velocityError;
                 Eigen::Vector3d angularMomentumError;
 
-
+                CoM(const Eigen::VectorXd& x,
+                    std::vector<std::string>& links_in_contact,
+                    XBot::ModelInterface& robot);
 
 
                 CoM(std::vector<AffineHelper> wrenches,
@@ -178,7 +181,7 @@
 
                 ~CoM();
 
-                void _update();
+                void _update(const Eigen::VectorXd& x);
 
 
                 void setLinearReference(const Eigen::Vector3d& desiredPosition);
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_FloatingBase.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_FloatingBase.h.html
index 96ec2ba1..1eda5470 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_FloatingBase.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_FloatingBase.h.html
@@ -101,7 +101,7 @@
 #define __TASKS_FORCE_FB_H__
 
 #include <OpenSoT/Task.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 #include <OpenSoT/utils/Affine.h>
 
 namespace OpenSoT {
@@ -120,7 +120,7 @@
             void setEnabledContacts(const std::vector<bool>& enabled_contacts);
 
             private:
-            virtual void _update();
+            virtual void _update(const Eigen::VectorXd& x);
             virtual void _log(XBot::MatLogger2::Ptr logger);
 
             std::vector<std::string> _contact_links;
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h.html
index 67c7eaa0..2445f77a 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_force_Force.h.html
@@ -126,7 +126,7 @@
             const std::string& getDistalLink() const;
             const std::string& getBaseLink() const;
         protected:
-            virtual void _update();
+            virtual void _update(const Eigen::VectorXd& x);
         private:
             std::string _distal_link, _base_link;
             OpenSoT::tasks::MinimizeVariable::Ptr _min_var;
@@ -149,7 +149,7 @@
         private:
             std::map<std::string, Wrench::Ptr> wrench_tasks;
             OpenSoT::tasks::Aggregated::Ptr _aggregated_task;
-            virtual void _update();
+            virtual void _update(const Eigen::VectorXd& x);
 
 
         };
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h.html
index 26bfa442..319b63c1 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_AngularMomentum.h.html
@@ -102,7 +102,7 @@
 #define __TASKS_VELOCITY_ANGULAR_MOMENTUM_H__
 
 #include <OpenSoT/Task.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 #include <kdl/frames.hpp>
 #include <Eigen/Dense>
 
@@ -124,13 +124,13 @@
 
            Eigen::MatrixXd _Momentum;
 
-           void _update();
+           void _update(const Eigen::VectorXd& x);
 
            std::string _base_link;
            std::string _distal_link;
 
         public:
-           AngularMomentum(XBot::ModelInterface& robot);
+           AngularMomentum(const Eigen::VectorXd& x, XBot::ModelInterface& robot);
            ~AngularMomentum();
 
            void setReference(const Eigen::Vector3d& desiredAngularMomentum);
@@ -138,7 +138,6 @@
 
            void getReference(Eigen::Vector3d& desiredAngularMomentum) const;
            void getReference(KDL::Vector& desiredAngularMomentum) const;
-           const Eigen::Vector3d& getReference() const;
 
            const std::string& getBaseLink() const;
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h.html
index 04cfd7af..7103d315 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Cartesian.h.html
@@ -102,7 +102,7 @@
 #define __TASKS_VELOCITY_CARTESIAN_H__
 
  #include <OpenSoT/Task.h>
- #include <xbot2_interface/xbotinterface2.h>
+ #include <XBotInterface/ModelInterface.h>
  #include <kdl/frames.hpp>
  #include <Eigen/Dense>
 
@@ -163,13 +163,14 @@
                 /****************************************/
 
                 Cartesian(std::string task_id,
+                          const Eigen::VectorXd& x,
                           XBot::ModelInterface &robot,
                           const std::string& distal_link,
                           const std::string& base_link);
 
                 ~Cartesian();
 
-                virtual void _update();
+                virtual void _update(const Eigen::VectorXd& x);
 
                 void setReference(const Eigen::Affine3d& desiredPose);
                 void setReference(const Eigen::Matrix4d& desiredPose);
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h.html
index 3ab605e8..fa3db34d 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CartesianAdmittance.h.html
@@ -85,233 +85,18 @@
 #define __TASKS_VELOCITY_CARTESIAN_ADMITTANCE_H__
 
 #include <OpenSoT/tasks/velocity/Cartesian.h>
-#include <xbot2_interface/common/utils.h>
 
 using namespace XBot::Utils;
 
 namespace OpenSoT {
    namespace tasks {
        namespace velocity {
-       template <typename SignalType>
-       class SecondOrderFilter {
-
-       public:
-
-           typedef std::shared_ptr<SecondOrderFilter<SignalType>> Ptr;
-
-           SecondOrderFilter():
-               _omega(1.0),
-               _eps(0.8),
-               _ts(0.01),
-               _reset_has_been_called(false)
-           {
-               computeCoeff();
-           }
-
-           SecondOrderFilter(double omega, double eps, double ts, const SignalType& initial_state):
-               _omega(omega),
-               _eps(eps),
-               _ts(ts),
-               _reset_has_been_called(false)
-           {
-               computeCoeff();
-               reset(initial_state);
-           }
-
-           void reset(const SignalType& initial_state){
-               _reset_has_been_called = true;
-               _u = initial_state;
-               _y = initial_state;
-               _yd = initial_state;
-               _ydd = initial_state;
-               _udd = initial_state;
-               _ud = initial_state;
-           }
-
-           const SignalType& process(const SignalType& input){
-
-               if(!_reset_has_been_called) reset(input*0);
-
-
-               _ydd = _yd;
-               _yd = _y;
-               _udd = _ud;
-               _ud = _u;
-
-
-               _u = input;
-               _y = 1.0/_a0 * ( _u + _b1*_ud + _b2*_udd - _a1*_yd - _a2*_ydd );
-
-               return _y;
-           }
-
-           const SignalType& getOutput() const {
-               return _y;
-           }
-
-           void setOmega(double omega){
-               _omega = omega;
-               computeCoeff();
-           }
-
-           double getOmega()
-           {
-               return _omega;
-           }
-
-           void setDamping(double eps){
-               _eps = eps;
-               computeCoeff();
-           }
-
-           double getDamping()
-           {
-               return _eps;
-           }
-
-           void setTimeStep(double ts){
-               _ts = ts;
-               computeCoeff();
-           }
-
-           double getTimeStep()
-           {
-               return _ts;
-           }
-
-       private:
-
-           void computeCoeff()
-           {
-               _b1 = 2.0;
-               _b2 = 1.0;
-
-               _a0 = 1.0 + 4.0*_eps/(_omega*_ts) + 4.0/std::pow(_omega*_ts, 2.0);
-               _a1 = 2 - 8.0/std::pow(_omega*_ts, 2.0);
-               _a2 = 1.0 + 4.0/std::pow(_omega*_ts, 2.0) - 4.0*_eps/(_omega*_ts);
-
-           }
-
-           double _omega;
-           double _eps;
-           double _ts;
-
-           double _b1, _b2;
-           double _a0, _a1, _a2;
-
-           bool _reset_has_been_called;
-
-           SignalType _y, _yd, _ydd, _u, _ud, _udd;
-
-       };
-
-       template<class SignalType>
-       class SecondOrderFilterArray
-       {
-       public:
-           SecondOrderFilterArray(const int channels):
-               _channels(channels)
-           {
-               SecondOrderFilter<SignalType> filter;
-               SignalType tmp;
-               for(unsigned int i = 0; i < _channels; ++i){
-                   _filters.push_back(filter);
-                   _output.push_back(tmp);
-               }
-           }
-
-           const std::vector<SignalType>& process(const std::vector<SignalType>& input)
-           {
-               if(input.size() != _channels)
-                   throw std::runtime_error("input size != filters size");
-
-               for(unsigned int i = 0; i < _channels; ++i){
-                   _filters[i].process(input[i]);
-                   _output[i] = _filters[i].getOutput();
-               }
-               return _output;
-           }
-
-           const std::vector<SignalType>& getOutput() const {
-               return _output;
-           }
-
-           void reset(const SignalType& init)
-           {
-               for(unsigned int i = 0; i < _channels; ++i){
-                   _filters[i].reset(init);
-                   _output[i] = init;
-               }
-           }
-
-           bool setTimeStep(const double time_step, const int channel)
-           {
-               if(channel >= _channels)
-                   return false;
-               else
-                   _filters[channel].setTimeStep(time_step);
-               return true;
-           }
-
-           double getTimeStep(const int channel)
-           {
-               if(channel >= _channels)
-                   throw std::runtime_error("channel out of channels range!");
-               else
-                   return _filters[channel].getTimeStep();
-           }
-
-           bool setDamping(const double damping, const int channel)
-           {
-               if(channel >= _channels)
-                   return false;
-               else
-                   _filters[channel].setDamping(damping);
-               return true;
-           }
-
-           double getDamping(const int channel)
-           {
-               if(channel >= _channels)
-                   throw std::runtime_error("channel out of channels range!");
-               else
-                   return _filters[channel].getDamping();
-           }
-
-           bool setOmega(const double omega, const int channel)
-           {
-               if(channel >= _channels)
-                   return false;
-               else
-                   _filters[channel].setOmega(omega);
-               return true;
-           }
-
-           double getOmega(const int channel)
-           {
-               if(channel >= _channels)
-                   throw std::runtime_error("channel out of channels range!");
-               else
-                   return _filters[channel].getOmega();
-           }
-
-           int getNumberOfChannels()
-           {
-               return _channels;
-           }
-
-       private:
-           std::vector<SecondOrderFilter<SignalType>> _filters;
-           std::vector<SignalType> _output;
-           int _channels;
-
-       };
-
        class CartesianAdmittance: public Cartesian {
          public:
             typedef std::shared_ptr<CartesianAdmittance> Ptr;
 
             CartesianAdmittance(std::string task_id,
+                                const Eigen::VectorXd& x,
                                 XBot::ModelInterface &robot,
                                 std::string base_link,
                                 XBot::ForceTorqueSensor::ConstPtr ft_sensor);
@@ -378,9 +163,10 @@
            Eigen::Vector6d _deadzone;
            std::vector<double> _tmp;
 
-           void _update();
+           void _update(const Eigen::VectorXd& x);
 
-           SecondOrderFilterArray<double> _filter;
+           //XBot::Utils::SecondOrderFilter<Eigen::Vector6d> _filter;
+           XBot::Utils::SecondOrderFilterArray<double> _filter;
 
            Eigen::Vector6d _C;
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h.html
index 6c60835a..acc9c9d1 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CoM.h.html
@@ -102,7 +102,7 @@
 #define __TASKS_VELOCITY_COM_H__
 
 #include <OpenSoT/Task.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 #include <kdl/frames.hpp>
 #include <Eigen/Dense>
 
@@ -130,22 +130,18 @@
                 std::string _base_link;
                 std::string _distal_link;
 
-
-            protected:
-                virtual void _update();
-                virtual void _log(XBot::MatLogger2::Ptr logger);
-
-
             public:
 
 
 
-                CoM(XBot::ModelInterface& robot,
+                CoM(const Eigen::VectorXd& x,
+                    XBot::ModelInterface& robot,
                     const std::string& id = "CoM"
                    );
 
                 ~CoM();
 
+                virtual void _update(const Eigen::VectorXd& x);
 
                 virtual void setReference(const Eigen::Vector3d& desiredPosition);
                 virtual void setReference(const KDL::Vector& desiredPosition);
@@ -177,6 +173,8 @@
 
                 bool reset();
 
+                virtual void _log(XBot::MatLogger2::Ptr logger);
+
                 static bool isCoM(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task);
 
                 static OpenSoT::tasks::velocity::CoM::Ptr asCoM(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task);
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h.html
deleted file mode 100644
index f1b7b80f..00000000
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_CollisionAvoidance.h.html
+++ /dev/null
@@ -1,147 +0,0 @@
-
-
-
-  
-  
-  Program Listing for File CollisionAvoidance.h — OpenSoT  documentation
-      
-      
-      
-  
-  
-        
-        
-        
-        
-        
-        
-    
-    
-     
-
-
- 
-  
    
-    
-
-    
    
-
-      
    
-        
    
-          
    
-  
-  
    
-
    
-          
    
-           
    
-             
-  
    
-
    Program Listing for File CollisionAvoidance.h
    
-
    ↰ Return to documentation for file (/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/tasks/velocity/CollisionAvoidance.h)
    
-
    #ifndef OPENSOT_TASKS_COLLISIONAVOIDANCE_H
-#define OPENSOT_TASKS_COLLISIONAVOIDANCE_H
-
-#include <OpenSoT/constraints/velocity/CollisionAvoidance.h>
-#include <OpenSoT/Task.h>
-
-namespace OpenSoT { namespace tasks { namespace velocity {
-
-class CollisionAvoidance : public Task<Eigen::MatrixXd, Eigen::VectorXd>
-{
-
-public:
-
-    CollisionAvoidance(constraints::velocity::CollisionAvoidance::Ptr constr);
-
-    void _update() override;
-
-    constraints::velocity::CollisionAvoidance::Ptr getConstraint();
-
-
-private:
-
-    constraints::velocity::CollisionAvoidance::Ptr _constr;
-
-    Eigen::VectorXd _error;
-
-};
-
-} } }
-
-#endif // COLLISIONAVOIDANCE_H
-
    
-
    
-
    
-
-
-           
    
-          
    
-          
    
-
-  
    
-
-  
    
-    
    © Copyright 2023, Enrico Mingo Hoffman.
    
-  
    
-
-  Built with Sphinx using a
-    theme
-    provided by Read the Docs.
-   
-
-
    
-        
    
-      
    
-    
    
-  
    
-   
-
-
-
\ No newline at end of file
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h.html
index 35668fda..5a421600 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Contact.h.html
@@ -102,7 +102,7 @@
 #define __TASKS_VELOCITY_CONTACT_H__
 
  #include <OpenSoT/Task.h>
- #include <xbot2_interface/xbotinterface2.h>
+ #include <XBotInterface/ModelInterface.h>
  #include <Eigen/Dense>
 
  #define WORLD_FRAME_NAME "world"
@@ -125,7 +125,7 @@
     ~Contact();
 
 
-    void _update();
+    void _update(const Eigen::VectorXd& x);
 
     const std::string& getLinkName() const;
 
@@ -149,7 +149,7 @@
 
     Eigen::VectorXd _error;
 
-    Eigen::MatrixXd _K, _Jtmp, _Jrot;
+    Eigen::MatrixXd _K, _Jtmp;
 
 };
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Gaze.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Gaze.h.html
index 4ff31450..1ddb86e5 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Gaze.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Gaze.h.html
@@ -104,7 +104,7 @@
 #include <OpenSoT/tasks/velocity/Cartesian.h>
 #include <OpenSoT/SubTask.h>
 #include <OpenSoT/utils/cartesian_utils.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 
 namespace OpenSoT {
 namespace tasks {
@@ -117,6 +117,7 @@
     typedef std::shared_ptr<Gaze> Ptr;
 
     Gaze(std::string task_id,
+         const Eigen::VectorXd &x,
          XBot::ModelInterface &robot,
          std::string base_link,
          std::string distal_link = "gaze");
@@ -138,6 +139,8 @@
 
     virtual const unsigned int getTaskSize() const;
 
+    virtual void _update(const Eigen::VectorXd &x);
+
     virtual std::vector<bool> getActiveJointsMask();
 
     virtual bool setActiveJointsMask(const std::vector<bool>& active_joints_mask);
@@ -163,9 +166,6 @@
     Eigen::Affine3d _tmpEigenM;
     Eigen::Affine3d _tmpEigenM2;
 
-    virtual void _update();
-
-
 
 
 };
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_JointAdmittance.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_JointAdmittance.h.html
index d3417169..b4c0fe8f 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_JointAdmittance.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_JointAdmittance.h.html
@@ -89,124 +89,11 @@
 namespace OpenSoT {
    namespace tasks {
        namespace velocity {
-       template <typename SignalType>
-       class SecondOrderFilter {
-
-       public:
-
-           typedef std::shared_ptr<SecondOrderFilter<SignalType>> Ptr;
-
-           SecondOrderFilter():
-               _omega(1.0),
-               _eps(0.8),
-               _ts(0.01),
-               _reset_has_been_called(false)
-           {
-               computeCoeff();
-           }
-
-           SecondOrderFilter(double omega, double eps, double ts, const SignalType& initial_state):
-               _omega(omega),
-               _eps(eps),
-               _ts(ts),
-               _reset_has_been_called(false)
-           {
-               computeCoeff();
-               reset(initial_state);
-           }
-
-           void reset(const SignalType& initial_state){
-               _reset_has_been_called = true;
-               _u = initial_state;
-               _y = initial_state;
-               _yd = initial_state;
-               _ydd = initial_state;
-               _udd = initial_state;
-               _ud = initial_state;
-           }
-
-           const SignalType& process(const SignalType& input){
-
-               if(!_reset_has_been_called) reset(input*0);
-
-
-               _ydd = _yd;
-               _yd = _y;
-               _udd = _ud;
-               _ud = _u;
-
-
-               _u = input;
-               _y = 1.0/_a0 * ( _u + _b1*_ud + _b2*_udd - _a1*_yd - _a2*_ydd );
-
-               return _y;
-           }
-
-           const SignalType& getOutput() const {
-               return _y;
-           }
-
-           void setOmega(double omega){
-               _omega = omega;
-               computeCoeff();
-           }
-
-           double getOmega()
-           {
-               return _omega;
-           }
-
-           void setDamping(double eps){
-               _eps = eps;
-               computeCoeff();
-           }
-
-           double getDamping()
-           {
-               return _eps;
-           }
-
-           void setTimeStep(double ts){
-               _ts = ts;
-               computeCoeff();
-           }
-
-           double getTimeStep()
-           {
-               return _ts;
-           }
-
-       private:
-
-           void computeCoeff()
-           {
-               _b1 = 2.0;
-               _b2 = 1.0;
-
-               _a0 = 1.0 + 4.0*_eps/(_omega*_ts) + 4.0/std::pow(_omega*_ts, 2.0);
-               _a1 = 2 - 8.0/std::pow(_omega*_ts, 2.0);
-               _a2 = 1.0 + 4.0/std::pow(_omega*_ts, 2.0) - 4.0*_eps/(_omega*_ts);
-
-           }
-
-           double _omega;
-           double _eps;
-           double _ts;
-
-           double _b1, _b2;
-           double _a0, _a1, _a2;
-
-           bool _reset_has_been_called;
-
-           SignalType _y, _yd, _ydd, _u, _ud, _udd;
-
-       };
-
        class JointAdmittance: public Postural {
         public:
            typedef std::shared_ptr<JointAdmittance> Ptr;
 
-           JointAdmittance(XBot::ModelInterface &robot, XBot::ModelInterface &model);
+           JointAdmittance(XBot::ModelInterface &robot, XBot::ModelInterface &model, const Eigen::VectorXd& x);
 
            void setJointCompliance(const Eigen::MatrixXd& C);
 
@@ -233,13 +120,13 @@
            XBot::ModelInterface& _robot;
            XBot::ModelInterface& _model;
 
-           void _update();
+           void _update(const Eigen::VectorXd& x);
 
-           SecondOrderFilter<Eigen::VectorXd> _filter;
+           XBot::Utils::SecondOrderFilter<Eigen::VectorXd> _filter;
 
            Eigen::MatrixXd _C;
 
-           Eigen::VectorXd _tau, _tau_filt, _h, _q, _tau_error, _qdot_desired;
+           Eigen::VectorXd _tau, _tau_filt, _h, _q, _tau_error;
 
        };
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_LinearMomentum.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_LinearMomentum.h.html
index 616e2e70..9dc424d7 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_LinearMomentum.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_LinearMomentum.h.html
@@ -102,7 +102,7 @@
 #define __TASKS_VELOCITY_LINEAR_MOMENTUM_H__
 
 #include <OpenSoT/Task.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 #include <kdl/frames.hpp>
 #include <Eigen/Dense>
 
@@ -124,10 +124,10 @@
 
            Eigen::MatrixXd _Momentum;
 
-           void _update();
+           void _update(const Eigen::VectorXd& x);
 
         public:
-           LinearMomentum(XBot::ModelInterface& robot);
+           LinearMomentum(const Eigen::VectorXd& x, XBot::ModelInterface& robot);
            ~LinearMomentum();
 
            void setReference(const Eigen::Vector3d& desiredLinearMomentum);
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Manipulability.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Manipulability.h.html
index 84773b8f..9c6ffae8 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Manipulability.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Manipulability.h.html
@@ -115,19 +115,20 @@
             public:
                 typedef std::shared_ptr<Manipulability> Ptr;
 
-                Manipulability(const XBot::ModelInterface& robot_model, const Cartesian::Ptr CartesianTask, const double step = 1E-3);
-                Manipulability(const XBot::ModelInterface& robot_model, const CoM::Ptr CartesianTask, const double step = 1E-3);
-
+                Manipulability(const Eigen::VectorXd& x, const XBot::ModelInterface& robot_model, const Cartesian::Ptr CartesianTask);
+                Manipulability(const Eigen::VectorXd& x, const XBot::ModelInterface& robot_model, const CoM::Ptr CartesianTask);
 
                 ~Manipulability();
 
+                void _update(const Eigen::VectorXd& x);
+
                 double ComputeManipulabilityIndex();
 
                 void setW(const Eigen::MatrixXd& W){
                     _manipulabilityIndexGradientWorker.setW(W);
                 }
 
-                const Eigen::MatrixXd&  getW() const{
+                Eigen::MatrixXd getW(){
                     return _manipulabilityIndexGradientWorker.getW();
                 }
 
@@ -135,15 +136,13 @@
                 {
                     if(lambda >= 0.0){
                         _lambda = lambda;
-                        this->_update();
+                        this->_update(_x);
                     }
                 }
 
             protected:
-                const XBot::ModelInterface& _model;
-                Eigen::VectorXd _q;
 
-                void _update();
+                Eigen::VectorXd _x;
 
                 class ComputeManipulabilityIndexGradient: public CostFunction{
                 public:
@@ -153,53 +152,53 @@
                     Eigen::VectorXd _zeros;
                     OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr _CartesianTask;
 
-                    ComputeManipulabilityIndexGradient(const XBot::ModelInterface& robot_model,
+                    ComputeManipulabilityIndexGradient(const Eigen::VectorXd& q, const XBot::ModelInterface& robot_model,
                                                        const Cartesian::Ptr CartesianTask) :
-                        _robot(robot_model.clone()),
+                        _robot(XBot::ModelInterface::getModel(robot_model.getConfigOptions())),
                         _model(robot_model),
-                        _W(_model.getNv(), _model.getNv()),
-                        _zeros(_model.getNv())
+                        _W(q.rows(),q.rows()),
+                        _zeros(q.rows())
                     {
-                        _W.setIdentity();
+                        _W.setIdentity(_W.rows(), _W.cols());
 
-                        _zeros.setZero();
+                        _zeros.setZero(_zeros.rows());
 
                         _robot->syncFrom(_model);
 
-                        _CartesianTask = Cartesian::Ptr(new Cartesian(CartesianTask->getTaskID(),
-                                                *_robot, CartesianTask->getDistalLink(), CartesianTask->getBaseLink()));
+                        _CartesianTask = Cartesian::Ptr(new Cartesian(CartesianTask->getTaskID(), q,
+                                                *(_robot.get()), CartesianTask->getDistalLink(), CartesianTask->getBaseLink()));
                     }
 
-                    ComputeManipulabilityIndexGradient(const XBot::ModelInterface& robot_model,
+                    ComputeManipulabilityIndexGradient(const Eigen::VectorXd& q, const XBot::ModelInterface& robot_model,
                                                        const CoM::Ptr CartesianTask) :
-                        _robot(robot_model.clone()),
+                        _robot(XBot::ModelInterface::getModel(robot_model.getPathToConfig())),
                         _model(robot_model),
-                        _W(_model.getNv(), _model.getNv()),
-                        _zeros(_model.getNv())
+                        _W(q.rows(),q.rows()),
+                        _zeros(q.rows())
                     {
-                        _W.setIdentity();
+                        _W.setIdentity(_W.rows(), _W.cols());
 
-                        _zeros.setZero();
+                        _zeros.setZero(_zeros.rows());
 
                         _robot->syncFrom(_model);
 
-                        _CartesianTask = CoM::Ptr(new OpenSoT::tasks::velocity::CoM(*(_robot.get())));
+                        _CartesianTask = CoM::Ptr(new OpenSoT::tasks::velocity::CoM(q, *(_robot.get())));
                     }
 
                     double compute(const Eigen::VectorXd &q)
                     {
                         _robot->setJointPosition(q);
-                        _robot->update();
+                        _robot->update(true);
 
 
-                        _CartesianTask->update();
+                        _CartesianTask->update(q);
 
                         return computeManipulabilityIndex();
                     }
 
                     void setW(const Eigen::MatrixXd& W) { _W = W; }
 
-                    const Eigen::MatrixXd& getW() const {return _W;}
+                    Eigen::MatrixXd& getW() {return _W;}
 
                     double computeManipulabilityIndex()
                     {
@@ -209,10 +208,6 @@
                     }
                 };
 
-                double _step;
-                Eigen::VectorXd _gradient;
-                Eigen::VectorXd _deltas;
-
                 ComputeManipulabilityIndexGradient _manipulabilityIndexGradientWorker;
             };
         }
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_MinimumEffort.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_MinimumEffort.h.html
index e682d221..4496c0b6 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_MinimumEffort.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_MinimumEffort.h.html
@@ -102,7 +102,7 @@
 #define __TASKS_VELOCITY_MINIMUMEFFORT_H__
 
  #include <OpenSoT/Task.h>
- #include <xbot2_interface/xbotinterface2.h>
+ #include <XBotInterface/ModelInterface.h>
  #include <OpenSoT/utils/cartesian_utils.h>
 
 
@@ -113,41 +113,52 @@
             public:
                 typedef std::shared_ptr<MinimumEffort> Ptr;
             protected:
-                const XBot::ModelInterface& _model;
-                Eigen::VectorXd _q;
-
-                void _update();
-
+                Eigen::VectorXd _x;
 
                 class ComputeGTauGradient : public CostFunction {
                     public:
                     XBot::ModelInterface::Ptr _robot;
                     const XBot::ModelInterface& _model;
                     Eigen::MatrixXd _W;
-                    Eigen::VectorXd _tau;
+                    Eigen::VectorXd _zeros, _tau;
                     Eigen::VectorXd _tau_lim;
 
-                    ComputeGTauGradient(const XBot::ModelInterface& robot_model) :
-                        _robot(robot_model.clone()),
+                    ComputeGTauGradient(const Eigen::VectorXd& q, const XBot::ModelInterface& robot_model) :
+                        _robot(XBot::ModelInterface::getModel(robot_model.getConfigOptions())),
                         _model(robot_model),
-                        _W(robot_model.getNv(), robot_model.getNv())
+                        _W(q.rows(),q.rows()),
+                        _zeros(q.rows())
                     {
-                        _W.setIdentity();
+                        _zeros.setZero(q.rows());
+                        _W.setIdentity(q.rows(),q.rows());
 
                         _robot->syncFrom(_model);
 
                         _model.getEffortLimits(_tau_lim);
 
-                        for(int i = 0; i < robot_model.getNv(); ++i){
+                        for(int i = 0; i < q.size(); ++i){
                             _W(i,i) = 1.0 / std::pow(_tau_lim(i), 2.0);
                         }
 
+//                         _robot.switchAnchor(_model.getAnchor());
+//                         _robot.setAnchor_T_World(_model.getAnchor_T_World());
                     }
 
                     double compute(const Eigen::VectorXd &q)
                     {
+//                         if(_robot.getAnchor() != _model.getAnchor())
+//                             _robot.switchAnchor(_model.getAnchor());
+
                         _robot->setJointPosition(q);
                         _robot->update();
+//                         _robot.updateiDyn3Model(cartesian_utils::fromEigentoYarp(q), true);
+
+//                         if(_model.getAnchor_T_World() != _robot.getAnchor_T_World())
+//                         {
+//                             assert("if q and anchor are the same, anchor_t_world should be the same!");
+//
+//                             _robot.setAnchor_T_World(_model.getAnchor_T_World());
+//                         }
 
                         _robot->computeGravityCompensation(_tau);
                         return _tau.transpose()* _W * _tau;
@@ -155,20 +166,19 @@
 
                     void setW(const Eigen::MatrixXd& W) { _W = W; }
 
-                    const Eigen::MatrixXd& getW() const {return _W;}
+                    const Eigen::MatrixXd& getW() {return _W;}
                 };
 
                 ComputeGTauGradient _gTauGradientWorker;
-                double _step;
-                Eigen::VectorXd _gradient;
-                Eigen::VectorXd _deltas;
 
             public:
 
-                MinimumEffort(const XBot::ModelInterface& robot_model, const double step = 1E-3);
+                MinimumEffort(const Eigen::VectorXd& x, const XBot::ModelInterface& robot_model);
 
                 ~MinimumEffort();
 
+                void _update(const Eigen::VectorXd& x);
+
                 double computeEffort();
 
                 void setW(const Eigen::MatrixXd& W){
@@ -183,7 +193,7 @@
                 {
                     if(lambda >= 0.0){
                         _lambda = lambda;
-                        this->_update();
+                        this->_update(_x);
                     }
                 }
             };
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Postural.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Postural.h.html
index ead2af4c..48705a97 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Postural.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_Postural.h.html
@@ -101,9 +101,11 @@
 #ifndef __TASKS_VELOCITY_POSTURAL_H__
 #define __TASKS_VELOCITY_POSTURAL_H__
 
-#include <OpenSoT/Task.h>
+ #include <OpenSoT/Task.h>
+
+ #include <kdl/frames.hpp>
+#include <Eigen/Dense>
 
-#include <xbot2_interface/xbotinterface2.h>
 
  namespace OpenSoT {
     namespace tasks {
@@ -112,23 +114,19 @@
             public:
                 typedef std::shared_ptr<Postural> Ptr;
             protected:
-                Eigen::VectorXd _q_desired;
-                Eigen::VectorXd _dq;
-                Eigen::VectorXd _v_desired, _v_desired_ref;
-                Eigen::VectorXd _q;
-                const XBot::ModelInterface& _robot;
+                Eigen::VectorXd _x_desired;
+                Eigen::VectorXd _xdot_desired, _xdot_desired_ref;
+                Eigen::VectorXd _x;
 
                 void update_b();
-                virtual void _log(XBot::MatLogger2::Ptr logger);
 
             public:
 
-                Postural(const XBot::ModelInterface& robot,
-                         const std::string& task_id = "Postural");
+                Postural(const Eigen::VectorXd& x, const std::string& task_id = "Postural");
 
                 ~Postural();
 
-                virtual void _update();
+                virtual void _update(const Eigen::VectorXd& x);
 
                 void setReference(const Eigen::VectorXd& x_desired);
 
@@ -144,12 +142,14 @@
 
                 void setLambda(double lambda);
 
-                const Eigen::VectorXd& getActualPositions() const;
+                Eigen::VectorXd getActualPositions();
 
-                const Eigen::VectorXd& getError() const;
+                Eigen::VectorXd getError();
 
                 bool reset();
 
+                virtual void _log(XBot::MatLogger2::Ptr logger);
+
                 static bool isPostural(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task);
 
                 static OpenSoT::tasks::velocity::Postural::Ptr asPostural(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task);
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_PureRolling.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_PureRolling.h.html
index aa8412f4..b8d3dfcd 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_PureRolling.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_velocity_PureRolling.h.html
@@ -105,7 +105,7 @@
 #define __OPENSOT_TASKS_VELOCITY_PURE_ROLLING_H__
 
 #include <OpenSoT/Task.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 #include <OpenSoT/SubTask.h>
 
 namespace OpenSoT { namespace tasks { namespace velocity {
@@ -120,7 +120,7 @@
                     double radius,
                     const XBot::ModelInterface& model);
 
-        virtual void _update();
+        virtual void _update(const Eigen::VectorXd& x);
 
         void setOutwardNormal(const Eigen::Vector3d& n);
 
@@ -158,7 +158,7 @@
 
         void setOutwardNormal(const Eigen::Vector3d& n);
 
-        virtual void _update();
+        virtual void _update(const Eigen::VectorXd& x);
 
         virtual void _log(XBot::MatLogger2::Ptr logger);
 
@@ -180,7 +180,7 @@
                     double radius,
                     const XBot::ModelInterface& model);
 
-        virtual void _update();
+        virtual void _update(const Eigen::VectorXd& x);
 
 
     private:
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AffineUtils.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AffineUtils.h.html
index 8e853240..e43641e3 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AffineUtils.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AffineUtils.h.html
@@ -104,7 +104,7 @@
     AffineTask(const OpenSoT::tasks::Aggregated::TaskPtr& task,
                const AffineHelper& var);
 
-    virtual void _update();
+    virtual void _update(const Eigen::VectorXd &x);
     ~AffineTask();
 
     static AffineTask::Ptr toAffine(const OpenSoT::tasks::Aggregated::TaskPtr& task,
@@ -126,7 +126,7 @@
     AffineConstraint(const OpenSoT::constraints::Aggregated::ConstraintPtr& constraint,
                const AffineHelper& var);
 
-    virtual void update();
+    virtual void update(const Eigen::VectorXd& x);
     ~AffineConstraint();
 
     static AffineConstraint::Ptr toAffine(const OpenSoT::constraints::Aggregated::ConstraintPtr& constraint,
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h.html
index a6414f3e..a5919ede 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_AutoStack.h.html
@@ -106,7 +106,7 @@
 #include <OpenSoT/solvers/iHQP.h>
 #include <OpenSoT/tasks/velocity/Cartesian.h>
 #include <OpenSoT/tasks/velocity/CoM.h>
-#include <xbot2_interface/logger.h>
+#include <XBotInterface/Logger.hpp>
 #include <OpenSoT/SubTask.h>
 #include <OpenSoT/SubConstraint.h>
 
@@ -114,20 +114,21 @@
     class AutoStack
     {
         public:
-            typedef std::shared_ptr<OpenSoT::AutoStack> Ptr;
+        typedef std::shared_ptr<OpenSoT::AutoStack> Ptr;
         private:
-            OpenSoT::solvers::iHQP::Stack _stack;
+        OpenSoT::solvers::iHQP::Stack _stack;
 
-            OpenSoT::tasks::Aggregated::TaskPtr _regularisation_task;
+       OpenSoT::tasks::Aggregated::TaskPtr _regularisation_task;
 
-            OpenSoT::constraints::Aggregated::Ptr _boundsAggregated;
+        OpenSoT::constraints::Aggregated::Ptr _boundsAggregated;
 
-            std::vector<OpenSoT::solvers::iHQP::TaskPtr> flattenTask(
-                    OpenSoT::solvers::iHQP::TaskPtr task);
-        public:
+        std::vector<OpenSoT::solvers::iHQP::TaskPtr> flattenTask(
+                OpenSoT::solvers::iHQP::TaskPtr task);
 
-            AutoStack(const int x_size);
+        protected:
+            AutoStack(const double x_size);
 
+        public:
             AutoStack(OpenSoT::tasks::Aggregated::TaskPtr task);
 
             AutoStack(OpenSoT::tasks::Aggregated::TaskPtr task,
@@ -139,7 +140,10 @@
                       std::list<OpenSoT::constraints::Aggregated::ConstraintPtr> bounds);
 
 
-            void update();
+            /*AutoStack(OpenSoT::solvers::iHQP::Stack stack,
+                      OpenSoT::constraints::Aggregated::ConstraintPtr bound);*/
+
+            void update(const Eigen::VectorXd & state);
 
             void log(XBot::MatLogger2::Ptr logger);
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h.html
new file mode 100644
index 00000000..81185f05
--- /dev/null
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_ForceOptimization.h.html
@@ -0,0 +1,184 @@
+
+
+
+  
+  
+  Program Listing for File ForceOptimization.h — OpenSoT  documentation
+      
+      
+      
+  
+  
+        
+        
+        
+        
+        
+        
+    
+    
+     
+
+
+ 
+  
    
+    
+
+    
    
+
+      
    
+        
    
+          
    
+  
+  
    
+
    
+          
    
+           
    
+             
+  
    
+
    Program Listing for File ForceOptimization.h
    
+
    ↰ Return to documentation for file (/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/ForceOptimization.h)
    
+
    #ifndef __QPPVM_FORCE_OPT_H__
+#define __QPPVM_FORCE_OPT_H__
+
+#include <OpenSoT/constraints/force/FrictionCone.h>
+#include <OpenSoT/Task.h>
+#include <OpenSoT/utils/Affine.h>
+#include <OpenSoT/solvers/iHQP.h>
+#include <OpenSoT/utils/AutoStack.h>
+#include <OpenSoT/SubTask.h>
+#include <OpenSoT/constraints/GenericConstraint.h>
+#include <OpenSoT/constraints/TaskToConstraint.h>
+#include <OpenSoT/tasks/MinimizeVariable.h>
+#include <OpenSoT/tasks/force/FloatingBase.h>
+#include <OpenSoT/constraints/force/CoP.h>
+
+namespace OpenSoT { namespace utils {
+
+    class ForceOptimization
+    {
+
+    public:
+
+        typedef std::shared_ptr<ForceOptimization> Ptr;
+
+        constexpr static double DEFAULT_FRICTION_COEFF = 0.5;
+
+        ForceOptimization(XBot::ModelInterface::Ptr model,
+                          std::vector<std::string> contact_links,
+                          bool optimize_torque = true,
+                          double friction_coeff = DEFAULT_FRICTION_COEFF
+                          );
+
+        bool compute(const Eigen::VectorXd& fixed_base_torque,
+                     std::vector<Eigen::Vector6d>& Fc,
+                     Eigen::VectorXd& tau
+                    );
+
+        void setContactRotationMatrix(const std::string& contact_link,
+                                      const Eigen::Matrix3d& w_R_c);
+
+        void log(XBot::MatLogger2::Ptr logger);
+
+        double getObjective();
+
+
+    private:
+
+        XBot::ModelInterface::Ptr _model;
+        std::vector<std::string> _contact_links;
+        std::vector< OpenSoT::AffineHelper > _wrenches;
+
+        OpenSoT::constraints::force::FrictionCones::Ptr _friction_cone;
+        OpenSoT::tasks::force::FloatingBase::Ptr _forza_giusta;
+        OpenSoT::solvers::iHQP::Ptr _solver;
+        OpenSoT::AutoStack::Ptr _autostack;
+
+        Eigen::VectorXd _x_value;
+        Eigen::MatrixXd _JC;
+        Eigen::VectorXd _fc_i;
+        Eigen::VectorXd _Fci;
+
+    };
+
+} }
+
+
+
+#endif
+
    
+
    
+
    
+
+
+           
    
+          
    
+          
    
+
+  
    
+
+  
    
+    
    © Copyright 2023, Enrico Mingo Hoffman.
    
+  
    
+
+  Built with Sphinx using a
+    theme
+    provided by Read the Docs.
+   
+
+
    
+        
    
+      
    
+    
    
+  
    
+   
+
+
+
\ No newline at end of file
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h.html
index f7168f9a..31faeca5 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_InverseDynamics.h.html
@@ -85,7 +85,7 @@
 #define _OPENSOT_INVERSE_DYNAMICS_H_
 
 #include <OpenSoT/utils/Affine.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 #include <OpenSoT/utils/AutoStack.h>
 
 namespace OpenSoT {
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h.html
similarity index 50%
rename from api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h.html
rename to api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h.html
index 94d26b30..ece376fd 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_tasks_ConstraintToTask.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_LinkPairDistance.h.html
@@ -3,7 +3,7 @@
 
   
   
-  Program Listing for File ConstraintToTask.h — OpenSoT  documentation
+  Program Listing for File LinkPairDistance.h — OpenSoT  documentation
       
       
       
@@ -68,9 +68,9 @@
           
    
   
   
    
@@ -78,36 +78,45 @@
           
    
            
    
              
-  
    
-
    Program Listing for File ConstraintToTask.h
    
-
    ↰ Return to documentation for file (/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/tasks/ConstraintToTask.h)
    
-
    #ifndef OPENSOT_CONSTRAINTTOTASK_H
-#define OPENSOT_CONSTRAINTTOTASK_H
+  
    
+
    Program Listing for File LinkPairDistance.h
    
+
    ↰ Return to documentation for file (/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/LinkPairDistance.h)
    
+
    #ifndef OPENSOT_LINKPAIRDISTANCE_H_
+#define OPENSOT_LINKPAIRDISTANCE_H_
 
-#include <OpenSoT/Constraint.h>
-#include <OpenSoT/Task.h>
-
-namespace OpenSoT { namespace tasks {
-
-class ConstraintToTask : public Task<Eigen::MatrixXd, Eigen::VectorXd>
+class LinkPairDistance
 {
 
 public:
 
-    ConstraintToTask(ConstraintPtr constraint,
-                     std::function<const Eigen::VectorXd&()> );
+    typedef std::pair<std::string, std::string> LinksPair;
+
+    LinkPairDistance(const std::string& link1,
+                     const std::string& link2,
+                     const KDL::Frame& w_T_closestPoint1,
+                     const KDL::Frame& w_T_closestPoint2,
+                     const double& distance);
+
+    bool isLink2WorldObject() const;
+
+    const double& getDistance() const;
 
-    void _update() override;
+    const std::pair<KDL::Frame, KDL::Frame>& getClosestPoints() const;
+
+    const std::pair<std::string, std::string>& getLinkNames() const;
+
+    bool operator <(const LinkPairDistance& second) const;
 
 private:
+    LinksPair _link_pair;
 
-    ConstraintPtr _constr;
+    std::pair<KDL::Frame, KDL::Frame> _closest_points;
 
-};
-} }
+    double distance;
 
+};
 
-#endif // CONSTRAINTTOTASK_H
+#endif // OPENSOT_LINKPAIRDISTANCE_H_
 
    
 
    
 
    
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h.html
index ea9a2bbb..16860b6e 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_Piler.h.html
@@ -85,7 +85,7 @@
 #define _OPENSOT_UTILS_PILER_H_
 
 #include <Eigen/Dense>
-#include <xbot2_interface/logger.h>
+#include <XBotInterface/RtLog.hpp>
 
 using XBot::Logger;
 
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp.html
deleted file mode 100644
index f3b2f4db..00000000
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_RtLog.hpp.html
+++ /dev/null
@@ -1,334 +0,0 @@
-
-
-
-  
-  
-  Program Listing for File RtLog.hpp — OpenSoT  documentation
-      
-      
-      
-  
-  
-        
-        
-        
-        
-        
-        
-    
-    
-     
-
-
- 
-  
    
-    
-
-    
    
-
-      
    
-        
    
-          
    
-  
-  
    
-
    
-          
    
-           
    
-             
-  
    
-
    Program Listing for File RtLog.hpp
    
-
    ↰ Return to documentation for file (/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/RtLog.hpp)
    
-
    /*
- * Copyright (C) 2017 IIT-ADVR
- * Author: Arturo Laurenzi
- * email:  arturo.laurenzi@iit.it
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>
-*/
-
-#ifndef __XBOT_RT_LOGGER_HPP__
-#define __XBOT_RT_LOGGER_HPP__
-
-
-#include <iostream>
-#include <stdarg.h>
-#include <stdio.h>
-
-#include <functional>
-
-#include <boost/iostreams/stream.hpp>
-#include <boost/iostreams/device/array.hpp>
-
-
-namespace XBot {
-
-    /* Modifiers */
-    std::ostream& bold_on(std::ostream& os);
-
-    std::ostream& bold_off(std::ostream& os);
-
-    std::ostream& color_green(std::ostream& os);
-
-    std::ostream& color_red(std::ostream& os);
-
-    std::ostream& color_yellow(std::ostream& os);
-
-    std::ostream& color_reset(std::ostream& os);
-
-    class LoggerClass;
-
-
-    class Endl {
-
-    public:
-
-        friend class LoggerClass;
-
-        friend void operator<< ( std::ostream& os, Endl& endl );
-
-    private:
-
-        Endl(LoggerClass& logger_handle);
-
-        LoggerClass& _logger_handle;
-
-        void print();
-
-    };
-
-
-
-    class Logger {
-
-    public:
-
-        enum class Severity { DEBUG = -1, LOW = 0, MID = 1, HIGH = 2, FATAL = 3 };
-
-        static std::ostream& log();
-
-        static std::ostream& info(Logger::Severity s = Logger::Severity::LOW);
-
-        static void info(Logger::Severity s, const char * fmt, ...);
-
-        static void info(const char * fmt, ...);
-
-        static std::ostream& error(Logger::Severity s = Logger::Severity::HIGH);
-
-        static void error(Logger::Severity s, const char * fmt, ...);
-
-        static void error(const char * fmt, ...);
-
-        static std::ostream& warning(Logger::Severity s = Logger::Severity::MID);
-
-        static void warning(Logger::Severity s, const char * fmt, ...);
-
-        static void warning(const char * fmt, ...);
-
-        static std::ostream& success(Logger::Severity s = Logger::Severity::LOW);
-
-        static void success(Logger::Severity s, const char * fmt, ...);
-
-        static void success(const char * fmt, ...);
-
-
-        static Endl& endl();
-
-        static void SetVerbosityLevel(Logger::Severity s);
-
-        static Logger::Severity GetVerbosityLevel();
-
-        static void SetOnPrintCallback(std::function<void(char*, int, Logger::Severity)> f);
-
-
-    protected:
-
-    private:
-
-        Logger() = delete;
-
-        static LoggerClass _logger;
-
-    };
-
-
-    class LoggerClass {
-
-    public:
-
-        friend class Endl;
-
-        friend class Logger;
-
-        typedef std::shared_ptr<LoggerClass> Ptr;
-
-        typedef std::function<void(char*, int, Logger::Severity)> OnPrintCallback;
-
-        static void DefaultOnPrint(char *, int, Logger::Severity);
-
-        LoggerClass(std::string logger_name);
-        LoggerClass(std::string logger_name, OnPrintCallback f);
-
-        ~LoggerClass();
-
-        std::ostream& log();
-
-        std::ostream& info(Logger::Severity s = Logger::Severity::LOW);
-
-        void info(Logger::Severity s, const char * fmt, ...);
-
-        void info(const char * fmt, ...);
-
-        std::ostream& error(Logger::Severity s = Logger::Severity::HIGH);
-
-        void error(Logger::Severity s, const char * fmt, ...);
-
-        void error(const char * fmt, ...);
-
-        std::ostream& warning(Logger::Severity s = Logger::Severity::MID);
-
-        void warning(Logger::Severity s, const char * fmt, ...);
-
-        void warning(const char * fmt, ...);
-
-        std::ostream& success(Logger::Severity s = Logger::Severity::LOW);
-
-        void success(Logger::Severity s, const char * fmt, ...);
-
-        void success(const char * fmt, ...);
-
-
-        Endl& endl();
-
-        void setVerbosityLevel(Logger::Severity s);
-
-        Logger::Severity getVerbosityLevel() const;
-
-        void setOnPrintCallback(std::function<void(char*, int, Logger::Severity)> f);
-
-
-
-    private:
-
-        typedef boost::iostreams::stream<boost::iostreams::array_sink> ostream_t;
-
-        void print();
-
-        void init_sink();
-
-        void __info(Logger::Severity s, const char * fmt, va_list args);
-        void __error(Logger::Severity s, const char * fmt, va_list args);
-        void __warning(Logger::Severity s, const char * fmt, va_list args);
-        void __success(Logger::Severity s, const char * fmt, va_list args);
-        void __fmt_print(const char * fmt, va_list args);
-
-        static const int BUFFER_SIZE = 4096;
-
-        char _buffer[BUFFER_SIZE];
-
-        ostream_t _sink;
-
-        Endl _endl;
-
-        std::string _name, _name_tag;
-        Logger::Severity _severity;
-        Logger::Severity _verbosity_level;
-
-        std::function<void(char*, int, Logger::Severity)> _on_print;
-
-    };
-
-
-
-
-
-}
-
-
-#endif
-
    
-
    
-
    
-
-
-           
    
-          
    
-          
    
-
-  
    
-
-  
    
-    
    © Copyright 2023, Enrico Mingo Hoffman.
    
-  
    
-
-  Built with Sphinx using a
-    theme
-    provided by Read the Docs.
-   
-
-
    
-        
    
-      
    
-    
    
-  
    
-   
-
-
-
\ No newline at end of file
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h.html
deleted file mode 100644
index 6f428b56..00000000
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_SoLib.h.html
+++ /dev/null
@@ -1,274 +0,0 @@
-
-
-
-  
-  
-  Program Listing for File SoLib.h — OpenSoT  documentation
-      
-      
-      
-  
-  
-        
-        
-        
-        
-        
-        
-    
-    
-     
-
-
- 
-  
    
-    
-
-    
    
-
-      
    
-        
    
-          
    
-  
-  
    
-
    
-          
    
-           
    
-             
-  
    
-
    Program Listing for File SoLib.h
    
-
    ↰ Return to documentation for file (/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/SoLib.h)
    
-
    /*
- * Copyright (C) 2017 IIT-ADVR
- * Author: Giuseppe Rigano
- * email:  giuseppe.rigano@iit.it
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>
-*/
-
-
-#ifndef __SO_LIB_H__
-#define __SO_LIB_H__
-
-#include <map>
-#include <string>
-#include <iostream>
-
-#include <dlfcn.h>
-#include <OpenSoT/utils/RtLog.hpp>
-
-#define REGISTER_SO_LIB_(class_name, base_class) \
-extern "C" base_class* create_instance() \
-{ \
-  return new  class_name(); \
-}\
-\
-extern "C" void destroy_instance( base_class* instance ) \
-{ \
-  delete instance; \
-}\
-
-
-
-using XBot::Logger;
-
-namespace
-{
-
-
-class SoLib
-{
-
-public:
-
-    template <class T>
-    static std::shared_ptr<T> getFactory ( const std::string& path_to_so, const std::string& lib_name ) {
-        char *error;
-        void* lib_handle;
-        lib_handle = dlopen ( path_to_so.c_str(), RTLD_NOW );
-        if ( !lib_handle ) {
-            XBot::Logger::error() << lib_name <<" so library NOT found! \n" << dlerror() << XBot::Logger::endl();
-        } else {
-            Logger::success() << lib_name << " so library found! " << Logger::endl();
-            handles[lib_name] = lib_handle;
-
-            T* ( *create ) ();
-            create = ( T* ( * ) () ) dlsym ( lib_handle, "create_instance" );
-            if ( ( error = dlerror() ) != NULL ) {
-                XBot::Logger::error() << " in loading library " << lib_name << ": \n" << error << XBot::Logger::endl();
-                return nullptr;
-            }
-
-            T* instance = ( T* ) create();
-            if ( instance != nullptr ) {
-                return std::shared_ptr<T> ( instance );
-            }
-
-            XBot::Logger::error() << " in loading library " << lib_name << ": obtained pointer is null" << XBot::Logger::endl();
-        }
-
-        return nullptr;
-
-    }
-
-    static void unloadLib ( const std::string& file_name ) {
-        dlclose ( handles[file_name] );
-        Logger::info() << file_name <<" so library unloaded! " << Logger::endl();
-    }
-
-    template <class T, typename... Args>
-    static std::shared_ptr<T> getFactoryWithArgs ( const std::string& path_to_so, const std::string& lib_name, Args... args ) {
-        char *error;
-        void* lib_handle;
-        lib_handle = dlopen ( path_to_so.c_str(), RTLD_NOW );
-        if ( !lib_handle ) {
-            XBot::Logger::error() << lib_name <<" so library NOT found! \n" << dlerror() << XBot::Logger::endl();
-        } else {
-            Logger::success() << lib_name << " so library found! " << Logger::endl();
-            handles[lib_name] = lib_handle;
-
-            T* ( *create ) ( Args... args );
-            create = ( T* ( * ) ( Args... args ) ) dlsym ( lib_handle, "create_instance" );
-            if ( ( error = dlerror() ) != NULL ) {
-                XBot::Logger::error() << " in loading library " << lib_name << ": \n" << error << XBot::Logger::endl();
-                return nullptr;
-            }
-
-            T* instance = ( T* ) create ( args... );
-            if ( instance != nullptr ) {
-                return std::shared_ptr<T> ( instance );
-            }
-
-            XBot::Logger::error() << " in loading library " << lib_name << ": obtained pointer is null" << XBot::Logger::endl();
-        }
-
-        return nullptr;
-
-    }
-
-private:
-
-    SoLib() = delete;
-
-    static std::map<std::string, void*> handles;
-
-    static bool computeAbsolutePath ( const std::string& input_path,
-                                      const std::string& middle_path,
-                                      std::string& absolute_path ) {
-        // if not an absolute path
-        if ( ! ( input_path.at ( 0 ) == '/' ) ) {
-            // if you are working with the Robotology Superbuild
-            const char* env_p = std::getenv ( "XBOT_ROOT" );
-            // check the env, otherwise error
-            if ( env_p ) {
-                std::string current_path ( env_p );
-                // default relative path when working with the superbuild
-                current_path += middle_path;
-                current_path += input_path;
-                absolute_path = current_path;
-                return true;
-            } else {
-                std::cerr << "ERROR in " << __func__ << " : the input path  " << input_path << " is neither an absolute path nor related with the robotology superbuild. Download it!" << std::endl;
-                return false;
-            }
-        }
-        // already an absolute path
-        absolute_path = input_path;
-        return true;
-    }
-
-
-};
-
-std::map<std::string, void*> SoLib::handles;
-
-}
-
-#endif
-
    
-
    
-
    
-
-
-           
    
-          
    
-          
    
-
-  
    
-
-  
    
-    
    © Copyright 2023, Enrico Mingo Hoffman.
    
-  
    
-
-  Built with Sphinx using a
-    theme
-    provided by Read the Docs.
-   
-
-
    
-        
    
-      
    
-    
    
-  
    
-   
-
-
-
\ No newline at end of file
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h.html
index 93c9da3c..9975a213 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h.html
@@ -115,6 +115,13 @@
     virtual double compute(const Eigen::VectorXd &x) = 0;
 };
 
+class GradientVector {
+    int _size;
+public:
+    GradientVector(const int x_size) : _size(x_size) {}
+    virtual Eigen::VectorXd compute(const Eigen::VectorXd &x) = 0;
+    int size() { return _size; }
+};
 
 class quaternion
 {
@@ -274,6 +281,17 @@
 class cartesian_utils
 {
 public:
+    static int pnpoly(int nvert, float *vertx, float *verty, float testx, float testy)
+    {
+        int i, j, c = 0;
+          for (i = 0, j = nvert-1; i < nvert; j = i++) {
+            if ( ((verty[i]>testy) != (verty[j]>testy)) &&
+             (testx < (vertx[j]-vertx[i]) * (testy-verty[i]) / (verty[j]-verty[i]) + vertx[i]) )
+               c = !c;
+          }
+          return c;
+    }
+
     static void computePanTiltMatrix(const Eigen::VectorXd& gaze, KDL::Frame& pan_tilt_matrix);
 
     static void computeCartesianError(const Eigen::Matrix4d &T,
@@ -284,9 +302,19 @@
                                       const Eigen::Affine3d &Td,
                                       Eigen::Vector3d& position_error,
                                       Eigen::Vector3d& orientation_error);
+
+    static Eigen::VectorXd computeGradient(const Eigen::VectorXd &x,
+                                              CostFunction &fun,
+                                              const double &step = 1E-3);
+
+    static Eigen::VectorXd computeGradient(const Eigen::VectorXd &x,
+                                              CostFunction &fun,
+                                              const std::vector<bool>& jointMask,
+                                              const double &step = 1E-3);
 };
 
 
+
 #endif
 
    
 
    
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h.html
new file mode 100644
index 00000000..67a65fec
--- /dev/null
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_collision_utils.h.html
@@ -0,0 +1,287 @@
+
+
+
+  
+  
+  Program Listing for File collision_utils.h — OpenSoT  documentation
+      
+      
+      
+  
+  
+        
+        
+        
+        
+        
+        
+    
+    
+     
+
+
+ 
+  
    
+    
+
+    
    
+
+      
    
+        
    
+          
    
+  
+  
    
+
    
+          
    
+           
    
+             
+  
    
+
    Program Listing for File collision_utils.h
    
+
    ↰ Return to documentation for file (/home/runner/work/OpenSoT/OpenSoT/include/OpenSoT/utils/collision_utils.h)
    
+
    /*
+ * Copyright (C) 2014 Walkman
+ * Author: Enrico Mingo, Alessio Rocchi, Cheng Fang, Arturo Laurenzi
+ * email:  enrico.mingo@iit.it, alessio.rocchi@iit.it, arturo.laurenzi@iit.it
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>
+*/
+
+#ifndef OPENSOT_COLLISION_UTILS_H_
+#define OPENSOT_COLLISION_UTILS_H_
+
+#include <kdl/frames.hpp>
+#include <limits>
+#include <list>
+#include <string>
+#include <utility>
+#include <XBotInterface/ModelInterface.h>
+#include <srdfdom_advr/model.h>
+#include <fcl/config.h>
+#include <fcl/narrowphase/distance.h>
+#include <fcl/narrowphase/collision.h>
+#include <fcl/narrowphase/collision_object.h>
+#include <moveit/collision_detection/collision_matrix.h>
+#include <moveit/robot_model/robot_model.h>
+#include <urdf/model.h>
+#include <geometric_shapes/shapes.h>
+#include <geometric_shapes/shape_operations.h>
+#include <memory>
+#include <kdl_parser/kdl_parser.hpp>
+#include <moveit_msgs/PlanningSceneWorld.h>
+
+#include <OpenSoT/utils/LinkPairDistance.h>
+
+#include <map>
+
+
+// construct vector
+inline KDL::Vector toKdl(urdf::Vector3 v)
+{
+    return KDL::Vector(v.x, v.y, v.z);
+}
+
+// construct rotation
+inline KDL::Rotation toKdl(urdf::Rotation r)
+{
+    return KDL::Rotation::Quaternion(r.x, r.y, r.z, r.w);
+}
+
+// construct pose
+inline KDL::Frame toKdl(urdf::Pose p)
+{
+    return KDL::Frame(toKdl(p.rotation), toKdl(p.position));
+}
+
+
+class ComputeLinksDistance
+{
+
+public:
+
+    ComputeLinksDistance(const XBot::ModelInterface& model,
+                         urdf::ModelConstSharedPtr collision_urdf = nullptr,
+                         srdf::ModelConstSharedPtr collision_srdf = nullptr);
+
+    std::list<LinkPairDistance> getLinkDistances(double detectionThreshold = std::numeric_limits<double>::infinity());
+
+    bool setCollisionWhiteList(std::list< LinkPairDistance::LinksPair > whiteList);
+
+    bool setCollisionBlackList(std::list< LinkPairDistance::LinksPair > blackList);
+
+    bool setWorldCollisions(const moveit_msgs::PlanningSceneWorld& wc);
+
+    bool addWorldCollision(const std::string& id,
+                           std::shared_ptr<fcl::CollisionObjectd> fcl_obj);
+
+    bool removeWorldCollision(const std::string& id);
+
+    void removeAllWorldCollision();
+
+    bool moveWorldCollision(const std::string& id,
+                            KDL::Frame new_pose);
+
+    static fcl::Transform3<double> KDL2fcl(const KDL::Frame &in);
+
+    static KDL::Frame fcl2KDL(const fcl::Transform3d& in);
+
+    class LinksPair
+    {
+
+    public:
+
+        std::string linkA;
+        std::string linkB;
+        std::shared_ptr<fcl::CollisionObjectd> collisionObjectA;
+        std::shared_ptr<fcl::CollisionObjectd> collisionObjectB;
+
+        LinksPair(ComputeLinksDistance* const father,
+                  std::string linkA,
+                  std::string linkB);
+
+    };
+
+    friend class ComputeLinksDistance::LinksPair;
+
+    std::map<std::string, std::shared_ptr<fcl::CollisionObjectd>> getCollisionObjects(){ return _collision_obj;}
+
+    bool globalToLinkCoordinates(const std::string& linkName,
+                                 const fcl::Transform3<double>& w_T_f,
+                                 KDL::Frame& link_T_f);
+
+    bool updateCollisionObjects();
+
+    std::map<std::string,KDL::Frame> getLinkToShapeTransforms();
+
+    void setLinksVsEnvironment(const std::list<std::string>& links);
+
+private:
+
+    collision_detection::AllowedCollisionMatrixPtr _acm;
+
+    const XBot::ModelInterface& _model;
+
+    robot_model::RobotModelConstPtr _moveit_model;
+
+    srdf::ModelSharedPtr _srdf;
+
+    urdf::ModelSharedPtr _urdf;
+
+    std::map<std::string, std::shared_ptr<fcl::CollisionObjectd>> _collision_obj;
+
+    std::set<std::string> _env_obj_names;
+
+    std::map<std::string,KDL::Frame> _link_T_shape;
+
+    bool shapeToLinkCoordinates(const std::string &linkName,
+                                const fcl::Transform3<double> &fcl_shape_T_f,
+                                KDL::Frame &link_T_f);
+
+
+    bool parseCollisionObjects();
+
+
+
+    void generateLinksToUpdate();
+
+    std::set<std::string> _links_to_update;
+
+    std::set<std::string> _links_vs_environment;
+
+    void generatePairsToCheck();
+
+    std::list<ComputeLinksDistance::LinksPair> _pairs_to_check;
+
+    void loadDisabledCollisionsFromSRDF(const srdf::Model& srdf,
+                                        collision_detection::AllowedCollisionMatrixPtr acm);
+
+
+};
+
+#endif
+
    
+
    
+
    
+
+
+           
    
+          
    
+          
    
+
+  
    
+
+  
    
+    
    © Copyright 2023, Enrico Mingo Hoffman.
    
+  
    
+
+  Built with Sphinx using a
+    theme
+    provided by Read the Docs.
+   
+
+
    
+        
    
+      
    
+    
    
+  
    
+   
+
+
+
\ No newline at end of file
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h.html
index 304110bb..3da98720 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_convex_hull_utils.h.html
@@ -112,8 +112,7 @@
 #include <pcl/filters/passthrough.h>
 #include <pcl/filters/project_inliers.h>
 #include <pcl/surface/concave_hull.h>
-#include <pcl/surface/convex_hull.h>
-#include <xbot2_interface/xbotinterface2.h>
+#include <XBotInterface/ModelInterface.h>
 
 class convex_hull
 {
@@ -121,13 +120,13 @@
     convex_hull();
     ~convex_hull();
 
-    bool getSupportPolygonPoints(std::list<Eigen::Vector3d>& points,
+    bool getSupportPolygonPoints(std::list<KDL::Vector>& points,
                                  const std::list<std::string> links_in_contact,
                                  const XBot::ModelInterface& model,
                                  const std::string referenceFrame = "COM");
 
-    bool getConvexHull(const std::list<Eigen::Vector3d>& points,
-                             std::vector<Eigen::Vector3d>& ch);
+    bool getConvexHull(const std::list<KDL::Vector>& points,
+                             std::vector<KDL::Vector>& ch);
     //void setRansacDistanceThr(const double x){_ransac_distance_thr = x;}
 
 private:
@@ -135,15 +134,15 @@
     pcl::PointCloud<pcl::PointXYZ>::Ptr _pointCloud;
     pcl::PointCloud<pcl::PointXYZ>::Ptr _projectedPointCloud;
 
-    Eigen::Affine3d world_T_CoM;
-    Eigen::Affine3d world_T_point;
-    Eigen::Affine3d referenceFrame_T_point;
-    Eigen::Affine3d CoM_T_point;
+    KDL::Frame world_T_CoM;
+    KDL::Frame world_T_point;
+    KDL::Frame referenceFrame_T_point;
+    KDL::Frame CoM_T_point;
     pcl::PointXYZ _tmp_pcl;
     pcl::PointCloud<pcl::PointXYZ> pointsInConvexHull;
     std::vector<pcl::Vertices> indicesOfVertexes;
     pcl::ConvexHull<pcl::PointXYZ> huller;
-    Eigen::Vector3d _tmp_vector;
+    KDL::Vector _tmp_vector;
     pcl::ProjectInliers<pcl::PointXYZ> proj;
 
     void projectPCL2Plane(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud,
diff --git a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_variables_Torque.h.html b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_variables_Torque.h.html
index 416aeeaa..c1355b8f 100644
--- a/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_variables_Torque.h.html
+++ b/api/program_listing_file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_variables_Torque.h.html
@@ -85,8 +85,8 @@
 #define __OPENSOT_VARIABLES_TORQUE_H__
 
 #include <OpenSoT/utils/Affine.h>
-#include <xbot2_interface/xbotinterface2.h>
-#include <xbot2_interface/common/utils.h>
+#include <XBotInterface/ModelInterface.h>
+#include <XBotInterface/Utils.h>
 
 namespace OpenSoT { namespace variables {
 
diff --git a/api/structOpenSoT_1_1OptvarHelper_1_1VarInfo.html b/api/structOpenSoT_1_1OptvarHelper_1_1VarInfo.html
index ad6fecde..1bfdecef 100644
--- a/api/structOpenSoT_1_1OptvarHelper_1_1VarInfo.html
+++ b/api/structOpenSoT_1_1OptvarHelper_1_1VarInfo.html
@@ -65,9 +65,14 @@
 
  • Struct stack_level
    • 
 
  • Struct Task::istrue
    • 
 
  • Class cartesian_utils
    • 
+
  • Class ComputeLinksDistance
    • 
+
  • Class ComputeLinksDistance::LinksPair
    • 
 
  • Class convex_hull
    • 
 
  • Class CostFunction
    • 
+
  • Template Class CollisionObject
    • 
+
  • Class GradientVector
    • 
 
  • Template Class LDLTInverse
    • 
+
  • Class LinkPairDistance
    • 
 
  • Template Class AffineHelperBase
    • 
 
  • Class AffineConstraint
    • 
 
  • Class AffineTask
    • 
@@ -130,7 +135,6 @@
 
  • Class MinJointVel
    • 
 
  • Class Postural
    • 
 
  • Class Aggregated
    • 
-
  • Class ConstraintToTask
    • 
 
  • Class Contact
    • 
 
  • Class IMU
    • 
 
  • Class Cartesian
    • 
@@ -144,7 +148,6 @@
 
  • Class AngularMomentum
    • 
 
  • Class Cartesian
    • 
 
  • Class CartesianAdmittance
    • 
-
  • Class CollisionAvoidance
    • 
 
  • Class CoM
    • 
 
  • Class Contact
    • 
 
  • Class Gaze
    • 
@@ -158,16 +161,12 @@
 
  • Class PureRolling
    • 
 
  • Class PureRollingOrientation
    • 
 
  • Class PureRollingPosition
    • 
-
  • Template Class SecondOrderFilter
    • 
-
  • Template Class SecondOrderFilterArray
    • 
+
  • Class ForceOptimization
    • 
 
  • Class InverseDynamics
    • 
 
  • Class MatrixPiler
    • 
 
  • Class Torque
    • 
 
  • Class quaternion
    • 
 
  • Template Class SVDPseudoInverse
    • 
-
  • Class Endl
    • 
-
  • Class Logger
    • 
-
  • Class LoggerClass
    • 
 
 
 
  • Enums
    • 
diff --git a/api/structOpenSoT_1_1Task_1_1istrue.html b/api/structOpenSoT_1_1Task_1_1istrue.html
index a48ee2ca..515ee6e6 100644
--- a/api/structOpenSoT_1_1Task_1_1istrue.html
+++ b/api/structOpenSoT_1_1Task_1_1istrue.html
@@ -65,9 +65,14 @@
 
  • Struct stack_level
    • 
 
  • Struct Task::istrue
    • 
 
  • Class cartesian_utils
    • 
+
  • Class ComputeLinksDistance
    • 
+
  • Class ComputeLinksDistance::LinksPair
    • 
 
  • Class convex_hull
    • 
 
  • Class CostFunction
    • 
+
  • Template Class CollisionObject
    • 
+
  • Class GradientVector
    • 
 
  • Template Class LDLTInverse
    • 
+
  • Class LinkPairDistance
    • 
 
  • Template Class AffineHelperBase
    • 
 
  • Class AffineConstraint
    • 
 
  • Class AffineTask
    • 
@@ -130,7 +135,6 @@
 
  • Class MinJointVel
    • 
 
  • Class Postural
    • 
 
  • Class Aggregated
    • 
-
  • Class ConstraintToTask
    • 
 
  • Class Contact
    • 
 
  • Class IMU
    • 
 
  • Class Cartesian
    • 
@@ -144,7 +148,6 @@
 
  • Class AngularMomentum
    • 
 
  • Class Cartesian
    • 
 
  • Class CartesianAdmittance
    • 
-
  • Class CollisionAvoidance
    • 
 
  • Class CoM
    • 
 
  • Class Contact
    • 
 
  • Class Gaze
    • 
@@ -158,16 +161,12 @@
 
  • Class PureRolling
    • 
 
  • Class PureRollingOrientation
    • 
 
  • Class PureRollingPosition
    • 
-
  • Template Class SecondOrderFilter
    • 
-
  • Template Class SecondOrderFilterArray
    • 
+
  • Class ForceOptimization
    • 
 
  • Class InverseDynamics
    • 
 
  • Class MatrixPiler
    • 
 
  • Class Torque
    • 
 
  • Class quaternion
    • 
 
  • Template Class SVDPseudoInverse
    • 
-
  • Class Endl
    • 
-
  • Class Logger
    • 
-
  • Class LoggerClass
    • 
 
 
 
  • Enums
    • 
diff --git a/api/structOpenSoT_1_1solvers_1_1GLPKBackEnd_1_1GLPKBackEndOptions.html b/api/structOpenSoT_1_1solvers_1_1GLPKBackEnd_1_1GLPKBackEndOptions.html
index 891f07e9..25972fbf 100644
--- a/api/structOpenSoT_1_1solvers_1_1GLPKBackEnd_1_1GLPKBackEndOptions.html
+++ b/api/structOpenSoT_1_1solvers_1_1GLPKBackEnd_1_1GLPKBackEndOptions.html
@@ -65,9 +65,14 @@
 
  • Struct stack_level
    • 
 
  • Struct Task::istrue
    • 
 
  • Class cartesian_utils
    • 
+
  • Class ComputeLinksDistance
    • 
+
  • Class ComputeLinksDistance::LinksPair
    • 
 
  • Class convex_hull
    • 
 
  • Class CostFunction
    • 
+
  • Template Class CollisionObject
    • 
+
  • Class GradientVector
    • 
 
  • Template Class LDLTInverse
    • 
+
  • Class LinkPairDistance
    • 
 
  • Template Class AffineHelperBase
    • 
 
  • Class AffineConstraint
    • 
 
  • Class AffineTask
    • 
@@ -130,7 +135,6 @@
 
  • Class MinJointVel
    • 
 
  • Class Postural
    • 
 
  • Class Aggregated
    • 
-
  • Class ConstraintToTask
    • 
 
  • Class Contact
    • 
 
  • Class IMU
    • 
 
  • Class Cartesian
    • 
@@ -144,7 +148,6 @@
 
  • Class AngularMomentum
    • 
 
  • Class Cartesian
    • 
 
  • Class CartesianAdmittance
    • 
-
  • Class CollisionAvoidance
    • 
 
  • Class CoM
    • 
 
  • Class Contact
    • 
 
  • Class Gaze
    • 
@@ -158,16 +161,12 @@
 
  • Class PureRolling
    • 
 
  • Class PureRollingOrientation
    • 
 
  • Class PureRollingPosition
    • 
-
  • Template Class SecondOrderFilter
    • 
-
  • Template Class SecondOrderFilterArray
    • 
+
  • Class ForceOptimization
    • 
 
  • Class InverseDynamics
    • 
 
  • Class MatrixPiler
    • 
 
  • Class Torque
    • 
 
  • Class quaternion
    • 
 
  • Template Class SVDPseudoInverse
    • 
-
  • Class Endl
    • 
-
  • Class Logger
    • 
-
  • Class LoggerClass
    • 
 
 
 
  • Enums
    • 
diff --git a/api/structOpenSoT_1_1solvers_1_1stack__level.html b/api/structOpenSoT_1_1solvers_1_1stack__level.html
index f30fecbd..2298774b 100644
--- a/api/structOpenSoT_1_1solvers_1_1stack__level.html
+++ b/api/structOpenSoT_1_1solvers_1_1stack__level.html
@@ -65,9 +65,14 @@
 
  • Struct stack_level
    • 
 
  • Struct Task::istrue
    • 
 
  • Class cartesian_utils
    • 
+
  • Class ComputeLinksDistance
    • 
+
  • Class ComputeLinksDistance::LinksPair
    • 
 
  • Class convex_hull
    • 
 
  • Class CostFunction
    • 
+
  • Template Class CollisionObject
    • 
+
  • Class GradientVector
    • 
 
  • Template Class LDLTInverse
    • 
+
  • Class LinkPairDistance
    • 
 
  • Template Class AffineHelperBase
    • 
 
  • Class AffineConstraint
    • 
 
  • Class AffineTask
    • 
@@ -130,7 +135,6 @@
 
  • Class MinJointVel
    • 
 
  • Class Postural
    • 
 
  • Class Aggregated
    • 
-
  • Class ConstraintToTask
    • 
 
  • Class Contact
    • 
 
  • Class IMU
    • 
 
  • Class Cartesian
    • 
@@ -144,7 +148,6 @@
 
  • Class AngularMomentum
    • 
 
  • Class Cartesian
    • 
 
  • Class CartesianAdmittance
    • 
-
  • Class CollisionAvoidance
    • 
 
  • Class CoM
    • 
 
  • Class Contact
    • 
 
  • Class Gaze
    • 
@@ -158,16 +161,12 @@
 
  • Class PureRolling
    • 
 
  • Class PureRollingOrientation
    • 
 
  • Class PureRollingPosition
    • 
-
  • Template Class SecondOrderFilter
    • 
-
  • Template Class SecondOrderFilterArray
    • 
+
  • Class ForceOptimization
    • 
 
  • Class InverseDynamics
    • 
 
  • Class MatrixPiler
    • 
 
  • Class Torque
    • 
 
  • Class quaternion
    • 
 
  • Template Class SVDPseudoInverse
    • 
-
  • Class Endl
    • 
-
  • Class Logger
    • 
-
  • Class LoggerClass
    • 
 
 
 
  • Enums
    • 
diff --git a/api/typedef_namespaceOpenSoT_1_1solvers_1a51cf6e89506893c78e9e5eba67814187.html b/api/typedef_namespaceOpenSoT_1_1solvers_1a51cf6e89506893c78e9e5eba67814187.html
index acab2c33..62f3d0a2 100644
--- a/api/typedef_namespaceOpenSoT_1_1solvers_1a51cf6e89506893c78e9e5eba67814187.html
+++ b/api/typedef_namespaceOpenSoT_1_1solvers_1a51cf6e89506893c78e9e5eba67814187.html
@@ -64,6 +64,7 @@
 
  • Functions
    • 
 
  • Defines
    • 
 
  • Typedefs
    • 
           
    
 
    
 
    
 
    
 
    
 
    
 
-
    
-
    
-
 
 
  • Includes
    • 
+
  • Included By
    • 
 
  • Namespaces
    • 
 
  • Classes
    • 
 
@@ -719,6 +707,20 @@ 
    Files
 
    
 
    
 
+
    
+
    
+
    
 
    
 
+
    
+
    
+
    
 
    
 
-
    
-
    
-
-
    
-
    
-
    
 
    _
    
@@ -126,18 +127,68 @@ 
    C
    
       
  • cartesian_utils (C++ class)
 
    • 
       
  • cartesian_utils::computeCartesianError (C++ function), [1]
+
    • 
+      
  • cartesian_utils::computeGradient (C++ function), [1]
 
    • 
       
  • cartesian_utils::computePanTiltMatrix (C++ function)
 
    • 
-      
  • convex_hull (C++ class)
+      
  • cartesian_utils::pnpoly (C++ function)
 
    • 
-      
  • convex_hull::convex_hull (C++ function)
+      
  • ComputeLinksDistance (C++ class)
+
    • 
+      
  • ComputeLinksDistance::addWorldCollision (C++ function)
+
    • 
+      
  • ComputeLinksDistance::ComputeLinksDistance (C++ function)
+
    • 
+      
  • ComputeLinksDistance::fcl2KDL (C++ function)
+
    • 
+      
  • ComputeLinksDistance::getCollisionObjects (C++ function)
+
    • 
+      
  • ComputeLinksDistance::getLinkDistances (C++ function)
+
    • 
+      
  • ComputeLinksDistance::getLinkToShapeTransforms (C++ function)
+
    • 
+      
  • ComputeLinksDistance::globalToLinkCoordinates (C++ function)
+
    • 
+      
  • ComputeLinksDistance::KDL2fcl (C++ function)
+
    • 
+      
  • ComputeLinksDistance::LinksPair (C++ class), [1]
+
    • 
+      
  • ComputeLinksDistance::LinksPair::collisionObjectA (C++ member), [1]
+
    • 
+      
  • ComputeLinksDistance::LinksPair::collisionObjectB (C++ member), [1]
 
    • 
   
   
 
 
-
    L
    
+
    F
    
 
+  
+
    
   
    
+
+
    G
    
+
+  
+
    
   
    
+
+
    L
    
+
+  
+  
    
 
    
@@ -251,13 +346,13 @@ 
    O
    
 
       
  • OpenSoT::AffineUtils::AffineConstraint::toAffine (C++ function)
 
    • 
-      
  • OpenSoT::AffineUtils::AffineConstraint::update (C++ function)
+      
  • OpenSoT::AffineUtils::AffineConstraint::update (C++ function)
 
    • 
       
  • OpenSoT::AffineUtils::AffineConstraint::~AffineConstraint (C++ function)
 
    • 
       
  • OpenSoT::AffineUtils::AffineTask (C++ class)
 
    • 
-      
  • OpenSoT::AffineUtils::AffineTask::_update (C++ function)
+      
  • OpenSoT::AffineUtils::AffineTask::_update (C++ function)
 
    • 
       
  • OpenSoT::AffineUtils::AffineTask::AffineTask (C++ function)
 
    • 
@@ -271,7 +366,7 @@ 
    O
    
 
       
  • OpenSoT::AutoStack (C++ class)
 
    • 
-      
  • OpenSoT::AutoStack::AutoStack (C++ function), [1], [2], [3], [4]
+      
  • OpenSoT::AutoStack::AutoStack (C++ function), [1], [2], [3], [4]
 
    • 
       
  • OpenSoT::AutoStack::checkConsistency (C++ function)
 
    • 
@@ -293,7 +388,7 @@ 
    O
    
 
       
  • OpenSoT::AutoStack::setRegularisationTask (C++ function)
 
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-      
  • OpenSoT::AutoStack::update (C++ function)
+      
  • OpenSoT::AutoStack::update (C++ function)
 
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  • OpenSoT::Constraint (C++ class)
 
    • 
@@ -359,7 +454,7 @@ 
    O
    
 
       
  • OpenSoT::Constraint::log (C++ function)
 
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+      
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@@ -373,7 +468,7 @@ 
    O
    
 
       
  • OpenSoT::constraints::acceleration::JointLimits::setPStepAheadPredictor (C++ function)
 
    • 
-      
  • OpenSoT::constraints::acceleration::JointLimits::update (C++ function)
+      
  • OpenSoT::constraints::acceleration::JointLimits::update (C++ function)
 
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  • OpenSoT::constraints::acceleration::JointLimitsECBF (C++ class)
 
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@@ -387,7 +482,7 @@ 
    O
    
 
       
  • OpenSoT::constraints::acceleration::JointLimitsECBF::setAlpha3 (C++ function), [1]
 
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-      
  • OpenSoT::constraints::acceleration::JointLimitsECBF::update (C++ function)
+      
  • OpenSoT::constraints::acceleration::JointLimitsECBF::update (C++ function)
 
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  • OpenSoT::constraints::acceleration::JointLimitsViability (C++ class)
 
    • 
@@ -401,7 +496,7 @@ 
    O
    
 
       
  • OpenSoT::constraints::acceleration::JointLimitsViability::setPStepAheadPredictor (C++ function)
 
    • 
-      
  • OpenSoT::constraints::acceleration::JointLimitsViability::update (C++ function)
+      
  • OpenSoT::constraints::acceleration::JointLimitsViability::update (C++ function)
 
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  • OpenSoT::constraints::acceleration::TorqueLimits (C++ class)
 
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@@ -417,7 +512,7 @@ 
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  • OpenSoT::constraints::acceleration::TorqueLimits::TorqueLimits (C++ function)
 
    • 
-      
  • OpenSoT::constraints::acceleration::TorqueLimits::update (C++ function)
+      
  • OpenSoT::constraints::acceleration::TorqueLimits::update (C++ function)
 
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@@ -427,7 +522,7 @@ 
    O
    
 
       
  • OpenSoT::constraints::acceleration::VelocityLimits::setVelocityLimits (C++ function), [1]
 
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-      
  • OpenSoT::constraints::acceleration::VelocityLimits::update (C++ function)
+      
  • OpenSoT::constraints::acceleration::VelocityLimits::update (C++ function)
 
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  • OpenSoT::constraints::acceleration::VelocityLimits::VelocityLimits (C++ function), [1]
 
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@@ -473,7 +568,7 @@ 
    O
    
 
       
  • OpenSoT::constraints::Aggregated::_tmpupperBound (C++ member)
 
    • 
-      
  • OpenSoT::constraints::Aggregated::Aggregated (C++ function), [1]
+      
  • OpenSoT::constraints::Aggregated::Aggregated (C++ function), [1], [2]
 
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  • OpenSoT::constraints::Aggregated::AggregationPolicy (C++ enum)
 
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@@ -499,7 +594,7 @@ 
    O
    
 
       
  • OpenSoT::constraints::Aggregated::Ptr (C++ type)
 
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  • OpenSoT::constraints::Aggregated::update (C++ function)
+      
  • OpenSoT::constraints::Aggregated::update (C++ function)
 
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  • OpenSoT::constraints::Aggregated::VectorPiler (C++ type)
 
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@@ -516,16 +611,16 @@ 
    O
    
       
  • OpenSoT::constraints::force::CoP::CoP (C++ function)
 
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-
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    • 
       
  • OpenSoT::constraints::force::CoPs (C++ class)
 
    • 
       
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+
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    • 
-      
  • OpenSoT::constraints::force::CoPs::update (C++ function)
+      
  • OpenSoT::constraints::force::CoPs::update (C++ function)
 
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  • OpenSoT::constraints::force::FrictionCone (C++ class)
 
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@@ -557,7 +652,7 @@ 
    O
    
 
       
  • OpenSoT::constraints::force::FrictionCone::setMu (C++ function)
 
    • 
-      
  • OpenSoT::constraints::force::FrictionCone::update (C++ function)
+      
  • OpenSoT::constraints::force::FrictionCone::update (C++ function)
 
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  • OpenSoT::constraints::force::FrictionCones (C++ class)
 
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@@ -569,7 +664,7 @@ 
    O
    
 
       
  • OpenSoT::constraints::force::FrictionCones::Ptr (C++ type)
 
    • 
-      
  • OpenSoT::constraints::force::FrictionCones::update (C++ function)
+      
  • OpenSoT::constraints::force::FrictionCones::update (C++ function)
 
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  • OpenSoT::constraints::force::NormalTorque (C++ class)
 
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@@ -579,7 +674,7 @@ 
    O
    
 
       
  • OpenSoT::constraints::force::NormalTorque::setMu (C++ function)
 
    • 
-      
  • OpenSoT::constraints::force::NormalTorque::update (C++ function)
+      
  • OpenSoT::constraints::force::NormalTorque::update (C++ function)
 
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  • OpenSoT::constraints::force::NormalTorques (C++ class)
 
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@@ -589,7 +684,7 @@ 
    O
    
 
       
  • OpenSoT::constraints::force::NormalTorques::Ptr (C++ type)
 
    • 
-      
  • OpenSoT::constraints::force::NormalTorques::update (C++ function)
+      
  • OpenSoT::constraints::force::NormalTorques::update (C++ function)
 
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  • OpenSoT::constraints::force::StaticConstraint (C++ class)
 
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@@ -601,13 +696,13 @@ 
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  • OpenSoT::constraints::force::WrenchesLimits::Ptr (C++ type)
 
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-      
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+      
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    • 
       
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    • 
-      
  • OpenSoT::constraints::force::WrenchLimits::getWrenchLimits (C++ function)
+      
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@@ -637,7 +732,7 @@ 
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  • OpenSoT::constraints::GenericConstraint::Type::CONSTRAINT (C++ enumerator)
 
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@@ -651,7 +746,7 @@ 
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+      
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@@ -663,7 +758,7 @@ 
    O
    
 
       
  • OpenSoT::constraints::velocity::CartesianPositionConstraint::setAbCartesian (C++ function)
 
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+      
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@@ -675,95 +770,73 @@ 
    O
    
 
       
  • OpenSoT::constraints::velocity::CartesianVelocity::setVelocityLimits (C++ function), [1]
 
    • 
-      
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+      
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    • 
       
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    • 
       
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    • 
       
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    • 
-      
  • OpenSoT::constraints::velocity::CollisionAvoidance::_distance_J (C++ member)
+      
  • OpenSoT::constraints::velocity::CollisionAvoidance::_distance_list (C++ member)
 
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-
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-
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  • OpenSoT::constraints::velocity::CollisionAvoidance::_num_active_pairs (C++ member)
 
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-      
  • OpenSoT::constraints::velocity::CollisionAvoidance::CollisionAvoidance (C++ function)
+      
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+      
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+      
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+
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    • 
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+      
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+
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+      
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    • 
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+      
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    • 
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+      
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+      
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+      
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    • 
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+      
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    • 
-      
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+      
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    • 
       
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@@ -773,21 +846,21 @@ 
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    • 
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+      
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    • 
       
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    • 
-      
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+      
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    • 
       
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    • 
       
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    • 
-      
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+      
  • OpenSoT::constraints::velocity::JointLimits::update (C++ function)
 
    • 
       
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    • 
-      
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+      
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    • 
       
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    • 
@@ -795,15 +868,15 @@ 
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    • 
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+      
  • OpenSoT::constraints::velocity::JointLimitsInvariance::update (C++ function)
 
    • 
       
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    • 
-      
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+      
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    • 
       
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    • 
-      
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+      
  • OpenSoT::constraints::velocity::OmniWheels4X::update (C++ function)
 
    • 
       
  • OpenSoT::constraints::velocity::VelocityLimits (C++ class)
 
    • 
@@ -815,7 +888,7 @@ 
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  • OpenSoT::constraints::velocity::VelocityLimits::setVelocityLimits (C++ function), [1]
 
    • 
-      
  • OpenSoT::constraints::velocity::VelocityLimits::VelocityLimits (C++ function), [1]
+      
  • OpenSoT::constraints::velocity::VelocityLimits::VelocityLimits (C++ function), [1]
 
    • 
       
  • OpenSoT::HessianType (C++ enum)
 
    • 
@@ -877,7 +950,7 @@ 
    O
    
 
       
  • OpenSoT::operator/= (C++ function)
 
    • 
-      
  • OpenSoT::operator<< (C++ function), [1], [2], [3], [4], [5]
+      
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    • 
       
  • OpenSoT::OptvarHelper (C++ class)
 
    • 
@@ -1021,7 +1094,7 @@ 
    O
    
 
       
  • OpenSoT::solvers::constraint_helper::Ptr (C++ type)
 
    • 
-      
  • OpenSoT::solvers::constraint_helper::update (C++ function)
+      
  • OpenSoT::solvers::constraint_helper::update (C++ function)
 
    • 
       
  • OpenSoT::solvers::eHQP (C++ class)
 
    • 
@@ -1100,8 +1173,6 @@ 
    O
    
       
  • OpenSoT::solvers::GLPKBackEnd::~GLPKBackEnd (C++ function)
 
    • 
       
  • OpenSoT::solvers::HCOD (C++ class)
-
    • 
-      
  • OpenSoT::solvers::HCOD::getDisableWeightsComputation (C++ function)
 
    • 
       
  • OpenSoT::solvers::HCOD::getInternalSolver (C++ function)
 
    • 
@@ -1113,7 +1184,7 @@ 
    O
    
 
       
  • OpenSoT::solvers::HCOD::setDamping (C++ function)
 
    • 
-      
  • OpenSoT::solvers::HCOD::setDisableWeightsComputation (C++ function)
+      
  • OpenSoT::solvers::HCOD::setDisableWeightsComputation (C++ function), [1]
 
    • 
       
  • OpenSoT::solvers::HCOD::solve (C++ function)
 
    • 
@@ -1319,7 +1390,7 @@ 
    O
    
 
       
  • OpenSoT::solvers::priority_constraint::Ptr (C++ type)
 
    • 
-      
  • OpenSoT::solvers::priority_constraint::update (C++ function)
+      
  • OpenSoT::solvers::priority_constraint::update (C++ function)
 
    • 
       
  • OpenSoT::solvers::proxQPBackEnd (C++ class)
 
    • 
@@ -1415,6 +1486,8 @@ 
    O
    
 
       
  • OpenSoT::solvers::qpSWIFTBackEnd::getObjective (C++ function)
 
    • 
+  
+  
-  
 
 
-
    R
    
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    S
    
 
    
   
      
@@ -2748,96 +2759,18 @@ 
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diff --git a/objects.inv b/objects.inv
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diff --git a/searchindex.js b/searchindex.js
index e1de3e2d..181fbafa 100644
--- a/searchindex.js
+++ b/searchindex.js
@@ -1 +1 @@
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CostFunction","Template Class LDLTInverse","Template Class AffineHelperBase","Class AffineConstraint","Class AffineTask","Class AutoStack","Template Class Constraint","Class Indices","Class OptvarHelper","Template Class Solver","Class SubConstraint","Class SubTask","Template Class Task","Class Aggregated","Class BilateralConstraint","Class GenericConstraint","Class TaskToConstraint","Class JointLimits","Class JointLimitsECBF","Class JointLimitsViability","Class TorqueLimits","Class VelocityLimits","Class CoP","Class CoPs","Class FrictionCone","Class FrictionCones","Class NormalTorque","Class NormalTorques","Class StaticConstraint","Class WrenchLimits","Class WrenchesLimits","Class CartesianPositionConstraint","Class CartesianVelocity","Class CollisionAvoidance","Class ConvexHull","Class JointLimits","Class JointLimitsInvariance","Class OmniWheels4X","Class VelocityLimits","Class BackEnd","Class GLPKBackEnd","Class HCOD","Template Class Iterator","Class OSQPBackEnd","Class QPOasesBackEnd","Class constraint_helper","Class eHQP","Class eiQuadProgBackEnd","Class iHQP","Class l1HQP","Class nHQP","Class nHQP::TaskData","Class priority_constraint","Class proxQPBackEnd","Class qpSWIFTBackEnd","Class task_to_constraint_helper","Class Aggregated","Class ConstraintToTask","Class GenericLPTask","Class GenericTask","Class MinimizeVariable","Class AngularMomentum","Class Cartesian","Class CoM","Class Contact","Class DynamicFeasibility","Class MinJointVel","Class Postural","Class Contact","Class IMU","Class Cartesian","Class CoM","Class FloatingBase","Class Wrench","Class Wrenches","Class AngularMomentum","Class Cartesian","Class CartesianAdmittance","Class CoM","Class CollisionAvoidance","Class Contact","Class Gaze","Class JointAdmittance","Class LinearMomentum","Class Manipulability","Class Manipulability::ComputeManipulabilityIndexGradient","Class MinimumEffort","Class MinimumEffort::ComputeGTauGradient","Class Postural","Class PureRolling","Class 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JointLimitsInvariace.h","File OmniWheels4X.h","File VelocityLimits.h","File BackEnd.h","File BackEndFactory.h","File GLPKBackEnd.h","File HCOD.h","File OSQPBackEnd.h","File QPOasesBackEnd.h","File eHQP.h","File eiQuadProgBackEnd.h","File iHQP.h","File l1HQP.h","File nHQP.h","File proxQPBackEnd.h","File qpSWIFTBackEnd.h","File Aggregated.h","File ConstraintToTask.h","File GenericLPTask.h","File GenericTask.h","File MinimizeVariable.h","File AngularMomentum.h","File Cartesian.h","File CoM.h","File Contact.h","File DynamicFeasibility.h","File GainType.h","File MinJointVel.h","File Postural.h","File Contact.h","File IMU.h","File Cartesian.h","File CoM.h","File FloatingBase.h","File Force.h","File AngularMomentum.h","File Cartesian.h","File CartesianAdmittance.h","File CoM.h","File CollisionAvoidance.h","File Contact.h","File Gaze.h","File JointAdmittance.h","File LinearMomentum.h","File Manipulability.h","File MinimumEffort.h","File Postural.h","File PureRolling.h","File Affine.h","File AffineUtils.h","File AutoStack.h","File Indices.h","File InverseDynamics.h","File Piler.h","File RtLog.hpp","File SoLib.h","File cartesian_utils.h","File convex_hull_utils.h","File Torque.h","Function OpenSoT::solvers::whichBackEnd","Function OpenSoT::solvers::BackEndFactory","Function OpenSoT::operator*(const Eigen::MatrixXd&, OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator+(const OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator*(const double, OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator%(const OpenSoT::constraints::Aggregated::ConstraintPtr, const std::list<unsigned int>&)","Function OpenSoT::operator<<(OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator%(const OpenSoT::tasks::Aggregated::TaskPtr, const std::list<unsigned int>&)","Function OpenSoT::operator/(const OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator<<(OpenSoT::AutoStack::Ptr, const OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator+(const OpenSoT::tasks::Aggregated::Ptr, const OpenSoT::tasks::Aggregated::Ptr)","Function OpenSoT::operator<<(OpenSoT::tasks::Aggregated::Ptr, const OpenSoT::constraints::Aggregated::ConstraintPtr)","Template Function OpenSoT::operator+(const AffineHelperBase<DerivedM1, DerivedQ1>&, const AffineHelperBase<DerivedM2, DerivedQ2>&)","Function OpenSoT::operator/(const OpenSoT::AutoStack::Ptr, const OpenSoT::AutoStack::Ptr)","Template Function OpenSoT::operator-(const AffineHelperBase<DerivedM1, DerivedQ1>&, const Eigen::MatrixBase<DerivedVector>&)","Function OpenSoT::operator*(const double, OpenSoT::tasks::Aggregated::Ptr)","Template Function OpenSoT::operator-(const AffineHelperBase<DerivedM1, DerivedQ1>&, const AffineHelperBase<DerivedM2, DerivedQ2>&)","Template Function OpenSoT::operator*(const DerivedMatrix&, const AffineHelperBase<DerivedM, DerivedQ>&)","Function OpenSoT::operator<<(OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::constraints::Aggregated::ConstraintPtr)","Function OpenSoT::operator/(const OpenSoT::tasks::Aggregated::TaskPtr, OpenSoT::AutoStack::Ptr)","Function OpenSoT::operator/=","Template Function OpenSoT::operator+(const AffineHelperBase<DerivedM1, DerivedQ1>&, const Eigen::MatrixBase<DerivedVector>&)","Function OpenSoT::operator/(const OpenSoT::AutoStack::Ptr, const OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator<<(std::ostream&, const AffineHelper&)","Function OpenSoT::operator+(const OpenSoT::tasks::Aggregated::Ptr, const OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator+(const OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::tasks::Aggregated::Ptr)","Function OpenSoT::operator<<(OpenSoT::AutoStack::Ptr, const OpenSoT::constraints::Aggregated::ConstraintPtr)","Template Function OpenSoT::operator/(const AffineHelperBase<DerivedM1, DerivedQ1>&, const AffineHelperBase<DerivedM2, DerivedQ2>&)","Function XBot::bold_on","Function XBot::bold_off","Function XBot::color_yellow","Function XBot::color_reset","Function XBot::color_red","Function XBot::color_green","Library API","Namespace @81","Namespace OpenSoT","Namespace OpenSoT::AffineUtils","Namespace OpenSoT::constraints","Namespace OpenSoT::constraints::acceleration","Namespace OpenSoT::constraints::force","Namespace OpenSoT::constraints::velocity","Namespace OpenSoT::solvers","Namespace OpenSoT::tasks","Namespace OpenSoT::tasks::acceleration","Namespace OpenSoT::tasks::floating_base","Namespace OpenSoT::tasks::force","Namespace OpenSoT::tasks::velocity","Namespace OpenSoT::utils","Namespace OpenSoT::variables","Namespace XBot","Namespace XBot::Utils","Namespace idynutils","Namespace proxsuite","Namespace proxsuite::proxqp","Namespace qpOASES","Namespace soth","Namespace std","Todo List","Program Listing for File Constraint.h","Program Listing for File Solver.h","Program Listing for File SubConstraint.h","Program Listing for File SubTask.h","Program Listing for File Task.h","Program Listing for File Aggregated.h","Program Listing for File BilateralConstraint.h","Program Listing for File GenericConstraint.h","Program Listing for File TaskToConstraint.h","Program Listing for File JointLimits.h","Program Listing for File JointLimitsECBF.h","Program Listing for File JointLimitsViability.h","Program Listing for File TorqueLimits.h","Program Listing for File VelocityLimits.h","Program Listing for File CoP.h","Program Listing for File FrictionCone.h","Program Listing for File NormalTorque.h","Program Listing for File StaticConstraint.h","Program Listing for File WrenchLimits.h","Program Listing for File CartesianPositionConstraint.h","Program Listing for File CartesianVelocity.h","Program Listing for File CollisionAvoidance.h","Program Listing for File ConvexHull.h","Program Listing for File JointLimits.h","Program Listing for File JointLimitsInvariace.h","Program Listing for File OmniWheels4X.h","Program Listing for File VelocityLimits.h","Program Listing for File BackEnd.h","Program Listing for File BackEndFactory.h","Program Listing for File GLPKBackEnd.h","Program Listing for File HCOD.h","Program Listing for File OSQPBackEnd.h","Program Listing for File QPOasesBackEnd.h","Program Listing for File eHQP.h","Program Listing for File eiQuadProgBackEnd.h","Program Listing for File iHQP.h","Program Listing for File l1HQP.h","Program Listing for File nHQP.h","Program Listing for File proxQPBackEnd.h","Program Listing for File qpSWIFTBackEnd.h","Program Listing for File Aggregated.h","Program Listing for File ConstraintToTask.h","Program Listing for File GenericLPTask.h","Program Listing for File GenericTask.h","Program Listing for File MinimizeVariable.h","Program Listing for File AngularMomentum.h","Program Listing for File Cartesian.h","Program Listing for File CoM.h","Program Listing for File Contact.h","Program Listing for File DynamicFeasibility.h","Program Listing for File GainType.h","Program Listing for File MinJointVel.h","Program Listing for File Postural.h","Program Listing for File Contact.h","Program Listing for File IMU.h","Program Listing for File Cartesian.h","Program Listing for File CoM.h","Program Listing for File FloatingBase.h","Program Listing for File Force.h","Program Listing for File AngularMomentum.h","Program Listing for File Cartesian.h","Program Listing for File CartesianAdmittance.h","Program Listing for File CoM.h","Program Listing for File CollisionAvoidance.h","Program Listing for File Contact.h","Program Listing for File Gaze.h","Program Listing for File JointAdmittance.h","Program Listing for File LinearMomentum.h","Program Listing for File Manipulability.h","Program Listing for File MinimumEffort.h","Program Listing for File Postural.h","Program Listing for File PureRolling.h","Program Listing for File Affine.h","Program Listing for File AffineUtils.h","Program Listing for File AutoStack.h","Program Listing for File Indices.h","Program Listing for File InverseDynamics.h","Program Listing for File Piler.h","Program Listing for File RtLog.hpp","Program Listing for File SoLib.h","Program Listing for File cartesian_utils.h","Program Listing for File convex_hull_utils.h","Program Listing for File Torque.h","Struct OptvarHelper::VarInfo","Struct Task::istrue","Struct GLPKBackEnd::GLPKBackEndOptions","Struct stack_level","Typedef OpenSoT::solvers::solver_back_ends_iterator","Typedef OpenSoT::AffineHelper","Typedef soth::VectorBound","Full API","Constraint","eHQP","iHQP","Welcome to the OpenSoT\u2019s documentation!","Intro","nHQP","Solver","iHQP: back-end comparison","Stack","Task","Variables"],titleterms:{"35":387,"7":387,"81":265,"class":[2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,227,228,229,264,266,267,268,269,270,271,272,273,274,275,276,277,278,279,280],"const":[232,233,234,235,236,237,238,239,240,241,242,243,244,245,246,247,248,249,251,252,253,254,255,256,257],"enum":[144,145,146,151,175,197,264,266,272,274],"function":[175,219,221,225,230,231,232,233,234,235,236,237,238,239,240,241,242,243,244,245,246,247,248,249,250,251,252,253,254,255,256,257,258,259,260,261,262,263,264,266,272,280],"int":[235,237],By:[147,148,149,150,151,152,153,154,162,168,174,175,182,187,189,190,191,197,199,207,209,217,219,221,222,224,225,227,228],__solvers__hcod__:108,__solvers__pseudoinverse__:116,acceler:[133,138,156,157,158,159,160,192,193,194,195,196,197,198,199,269,274],affin:[219,361,390],affineconstraint:5,affinehelp:[253,377],affinehelperbas:[4,242,244,246,247,251,257],affinetask:6,affineutil:[220,267,362],aggreg:[15,58,152,187,232,233,234,235,236,237,238,239,240,241,245,248,249,252,254,255,256,294,329],aknowledg:1,angularmomentum:[63,77,192,206,334,348],api:[264,379],autostack:[7,221,239,243,249,252,256,363],avail:386,back:387,backend:[41,174,316],backendfactori:[175,231,317],base:[5,6,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,47,48,49,50,51,52,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,98],base_link_com:[109,114,118,124,127],bilateralconstraint:[16,153,295,380],bold_off:259,bold_on:258,bound_scal:[106,107],cartesian:[64,72,78,193,202,207,335,344,349],cartesian_util:[103,227,369],cartesianadmitt:[79,208,350],cartesianpositionconstraint:[33,166,308],cartesianveloc:[34,167,309],collisionavoid:[35,81,168,210,310,352],color_green:263,color_r:262,color_reset:261,color_yellow:260,com:[65,73,80,194,203,209,336,345,351],comparison:387,computegtaugradi:89,computemanipulabilityindexgradi:87,constraint:[8,132,147,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,235,241,248,256,268,269,270,271,289,380,390],constraint_help:47,constraintptr:[235,241,248,256],constrainttotask:[59,188,330],contact:[66,70,82,195,200,211,337,342,353],content:[147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227,228,229,266,267,268,269,270,271,272,273,274,275,276,277,278,279,280,283,286,383],convex_hul:104,convex_hull_util:[228,370],convexhul:[36,169,311],cop:[24,25,161,303],costfunct:2,default_eps_regularis:[120,121],defin:[106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,166,169,177,178,179,180,181,182,183,185,186,192,203,206,207,209,211,214,226,264],definit:[147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227,228,229],deriv:[2,16,41,78,90],derivedm1:[242,244,246,251,257],derivedm2:[242,246,257],derivedm:247,derivedmatrix:247,derivedq1:[242,244,246,251,257],derivedq2:[242,246,257],derivedq:247,derivedvector:[244,251],directori:[130,131,132,133,134,135,136,137,138,139,140,141,142,143,379],distal_link_com:[110,115,119,125,128],document:[2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,144,145,146,230,231,232,233,234,235,236,237,238,239,240,241,242,243,244,245,246,247,248,249,250,251,252,253,254,255,256,257,258,259,260,261,262,263,372,373,374,375,376,377,378,383],dof:387,doubl:[234,245],dynamicfeas:[67,196,338],ehqp:[48,180,322,381],eigen:[232,244,251],eiquadprog_default_eps_regularis:117,eiquadprogbackend:[49,181,323],end:387,endl:100,featur:383,file:[131,132,133,134,135,136,137,138,139,140,141,142,143,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227,228,229,264,289,290,291,292,293,294,295,296,297,298,299,300,301,302,303,304,305,306,307,308,309,310,311,312,313,314,315,316,317,318,319,320,321,322,323,324,325,326,327,328,329,330,331,332,333,334,335,336,337,338,339,340,341,342,343,344,345,346,347,348,349,350,351,352,353,354,355,356,357,358,359,360,361,362,363,364,365,366,367,368,369,370,371,379],floating_bas:[139,200,201,275],floatingbas:[74,204,346],forc:[134,140,161,162,163,164,165,202,203,204,205,270,276,347],frictioncon:[26,27,162,304],full:[264,379],gaintyp:[145,197,339],gaze:[83,212,354],genericconstraint:[17,154,296,380],genericlptask:[60,189,331],generictask:[61,190,332,389],glpkbackend:[42,176,318,374],glpkbackendopt:374,h:[147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,226,227,228,229,289,290,291,292,293,294,295,296,297,298,299,300,301,302,303,304,305,306,307,308,309,310,311,312,313,314,315,316,317,318,319,320,321,322,323,324,325,326,327,328,329,330,331,332,333,334,335,336,337,338,339,340,341,342,343,344,345,346,347,348,349,350,351,352,353,354,355,356,357,358,359,360,361,362,363,364,365,366,368,369,370,371],hcod:[0,43,177,319],hessiantyp:146,hierarchi:264,home:[147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227,228,229],hpp:[225,367],humanoid:387,idynutil:282,ihqp:[50,182,324,382,387],imu:[71,201,343],includ:[130,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227,228,229],indic:[9,222,364],inherit:[2,5,6,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,47,48,49,50,51,52,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,98],intro:384,inversedynam:[96,223,365],istru:373,iter:44,jointadmitt:[84,213,355],jointlimit:[19,37,156,170,298,312],jointlimitsecbf:[20,157,299],jointlimitsinvari:38,jointlimitsinvariac:[171,313],jointlimitsvi:[21,158,300],l1hqp:[51,183,325],ldltinvers:3,librari:264,linearmomentum:[85,214,356],list:[235,237,288,289,290,291,292,293,294,295,296,297,298,299,300,301,302,303,304,305,306,307,308,309,310,311,312,313,314,315,316,317,318,319,320,321,322,323,324,325,326,327,328,329,330,331,332,333,334,335,336,337,338,339,340,341,342,343,344,345,346,347,348,349,350,351,352,353,354,355,356,357,358,359,360,361,362,363,364,365,366,367,368,369,370,371],logger:101,loggerclass:102,main:383,manipul:[86,87,215,357,387],matrixbas:[244,251],matrixpil:97,matrixxd:232,minimizevari:[62,191,333],minimumeffort:[88,89,216,358],minjointvel:[68,198,340],namespac:[147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,229,264,265,266,267,268,269,270,271,272,273,274,275,276,277,278,279,280,281,282,283,284,285,286,287],nest:[10,14,42,52,53,86,87,88,89,372,373,374],nhqp:[52,53,184,326,385],normaltorqu:[28,29,163,305],omniwheels4x:[39,172,314],opensot:[131,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227,228,229,230,231,232,233,234,235,236,237,238,239,240,241,242,243,244,245,246,247,248,249,250,251,252,253,254,255,256,257,266,267,268,269,270,271,272,273,274,275,276,277,278,279,376,377,383],oper:[232,233,234,235,236,237,238,239,240,241,242,243,244,245,246,247,248,249,250,251,252,253,254,255,256,257],optvarhelp:[10,372],osqp_default_eps_regularis:111,osqpbackend:[45,178,320],ostream:253,page:[264,379],piler:[224,366],postur:[69,90,199,217,341,359],priority_constraint:54,program:[289,290,291,292,293,294,295,296,297,298,299,300,301,302,303,304,305,306,307,308,309,310,311,312,313,314,315,316,317,318,319,320,321,322,323,324,325,326,327,328,329,330,331,332,333,334,335,336,337,338,339,340,341,342,343,344,345,346,347,348,349,350,351,352,353,354,355,356,357,358,359,360,361,362,363,364,365,366,367,368,369,370,371],proxqp:284,proxqp_default_eps_regularis:122,proxqpbackend:[55,185,327],proxsuit:[283,284],ptr:[239,240,241,243,245,249,252,254,255,256],purerol:[91,218,360],purerollingorient:92,purerollingposit:93,qpoas:285,qpoases_default_eps_regularis:112,qpoasesbackend:[46,179,321],qpswift_default_eps_regularis:123,qpswiftbackend:[56,186,328],quaternion:105,register_so_lib_:113,relationship:[2,5,6,10,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,98,372,373,374],rtlog:[225,367],runner:[147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227,228,229],s:383,secondorderfilt:94,secondorderfilterarrai:95,solib:[226,368],solver:[11,136,148,174,175,176,177,178,179,180,181,182,183,184,185,186,230,231,272,290,376,386],solver_back_end:144,solver_back_ends_iter:376,soth:[286,378],stack:388,stack_level:375,staticconstraint:[30,164,306],std:[235,237,253,287],struct:[264,372,373,374,375],subconstraint:[12,149,291,380],subdirectori:[130,131,132,137],subtask:[13,150,292,389],svdpseudoinvers:99,task:[14,137,151,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,232,233,234,236,237,238,239,240,241,245,248,249,252,254,255,273,274,275,276,277,293,373,389,390],task_to_constraint_help:57,taskdata:53,taskptr:[232,233,234,236,237,238,239,248,249,252,254,255],tasktoconstraint:[18,155,297],templat:[3,4,8,11,14,44,94,95,99,242,244,246,247,251,257],todo:288,torqu:[98,229,371],torquelimit:[22,159,301],type:[2,5,6,10,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,47,48,49,50,51,52,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,98],typedef:[175,177,219,264,266,272,286,376,377,378],unsign:[235,237],usag:390,util:[142,219,220,221,222,223,224,225,226,227,228,278,281],variabl:[143,229,279,390],varinfo:372,vectorbound:378,veloc:[135,141,166,167,168,169,170,171,172,173,206,207,208,209,210,211,212,213,214,215,216,217,218,271,277],velocitylimit:[23,40,160,173,302,315],welcom:383,whichbackend:230,work:[147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227,228,229],world_frame_nam:[126,129],wrench:[75,76],wrencheslimit:32,wrenchlimit:[31,165,307],xbot:[258,259,260,261,262,263,280,281]}})
\ No newline at end of file
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regated12_boundAineqsE","OpenSoT::constraints::Aggregated::_boundAineqs"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated17_boundLowerBoundsE","OpenSoT::constraints::Aggregated::_boundLowerBounds"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated17_boundUpperBoundsE","OpenSoT::constraints::Aggregated::_boundUpperBounds"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated18_boundbLowerBoundsE","OpenSoT::constraints::Aggregated::_boundbLowerBounds"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated18_boundbUpperBoundsE","OpenSoT::constraints::Aggregated::_boundbUpperBounds"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated10_boundbeqsE","OpenSoT::constraints::Aggregated::_boundbeqs"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated7_boundsE","OpenSoT::constraints::Aggregated::_bounds"],[19,2,1,"_CPPv4N7OpenSoT11constraints10Aggregated4_logEN4XBot10MatLogger23PtrE","OpenSoT::constraints::Aggregated::_log"],[19,3,1,"_CPPv4N7OpenSoT11constraints10Aggregated4_logEN4XBot10MatLogger23PtrE","OpenSoT::constraints::Aggregated::_log::logger"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated17_number_of_boundsE","OpenSoT::constraints::Aggregated::_number_of_bounds"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated7_tmpAeqE","OpenSoT::constraints::Aggregated::_tmpAeq"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated9_tmpAineqE","OpenSoT::constraints::Aggregated::_tmpAineq"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated15_tmpbLowerBoundE","OpenSoT::constraints::Aggregated::_tmpbLowerBound"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated15_tmpbUpperBoundE","OpenSoT::constraints::Aggregated::_tmpbUpperBound"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated7_tmpbeqE","OpenSoT::constraints::Aggregated::_tmpbeq"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated14_tmplowerBoundE","OpenSoT::constraints::Aggregated::_tmplowerBound"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated14_tmpupperBoundE","OpenSoT::constraints::Aggregated::_tmpupperBound"],[19,2,1,"_CPPv4N7OpenSoT11constraints10Aggregated10checkSizesEv","OpenSoT::constraints::Aggregated::checkSizes"],[19,2,1,"_CPPv4N7OpenSoT11constraints10Aggregated25concatenateConstraintsIdsEKNSt4listI13ConstraintPtrEE","OpenSoT::constraints::Aggregated::concatenateConstraintsIds"],[19,3,1,"_CPPv4N7OpenSoT11constraints10Aggregated25concatenateConstraintsIdsEKNSt4listI13ConstraintPtrEE","OpenSoT::constraints::Aggregated::concatenateConstraintsIds::constraints"],[19,4,1,"_CPPv4N7OpenSoT11constraints10Aggregated14concatenatedIdE","OpenSoT::constraints::Aggregated::concatenatedId"],[19,2,1,"_CPPv4N7OpenSoT11constraints10Aggregated11generateAllEv","OpenSoT::constraints::Aggregated::generateAll"],[19,2,1,"_CPPv4N7OpenSoT11constraints10Aggregated18getConstraintsListEv","OpenSoT::constraints::Aggregated::getConstraintsList"],[19,2,1,"_CPPv4N7OpenSoT11constraints10Aggregated29initSupportVectorsAndMatricesEKi","OpenSoT::constraints::Aggregated::initSupportVectorsAndMatrices"],[19,3,1,"_CPPv4N7OpenSoT11constraints10Aggregated29initSupportVectorsAndMatricesEKi","OpenSoT::constraints::Aggregated::initSupportVectorsAndMatrices::bound_size"],[19,2,1,"_CPPv4N7OpenSoT11constraints10Aggregated3logEN4XBot10MatLogger23PtrE","OpenSoT::constraints::Aggregated::log"],[19,3,1,"_CPPv4N7OpenSoT11constraints10Aggregated3logEN4XBot10MatLogger23PtrE","OpenSoT::constraints::Aggregated::log::logger"],[19,2,1,"_CPPv4N7OpenSoT11constraints10Aggregated4pileERN5Eigen8MatrixXdERKN5Eigen8MatrixXdE","OpenSoT::constraints::Aggregated::pile"],[19,2,1,"_CPPv4N7OpenSoT11constraints10Aggregated4pileERN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::constraints::Aggregated::pile"],[19,3,1,"_CPPv4N7OpenSoT11constraints10Aggregated4pileERN5Eigen8MatrixXdERKN5Eigen8MatrixXdE","OpenSoT::constraints::Aggregated::pile::A"],[19,3,1,"_CPPv4N7OpenSoT11constraints10Aggregated4pileERN5Eigen8MatrixXdERKN5Eigen8MatrixXdE","OpenSoT::constraints::Aggregated::pile::B"],[19,3,1,"_CPPv4N7OpenSoT11constraints10Aggregated4pileERN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::constraints::Aggregated::pile::a"],[19,3,1,"_CPPv4N7OpenSoT11constraints10Aggregated4pileERN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::constraints::Aggregated::pile::b"],[19,2,1,"_CPPv4N7OpenSoT11constraints10Aggregated6updateERKN5Eigen8VectorXdE","OpenSoT::constraints::Aggregated::update"],[19,3,1,"_CPPv4N7OpenSoT11constraints10Aggregated6updateERKN5Eigen8VectorXdE","OpenSoT::constraints::Aggregated::update::x"],[20,1,1,"_CPPv4N7OpenSoT11constraints19BilateralConstraintE","OpenSoT::constraints::BilateralConstraint"],[20,2,1,"_CPPv4N7OpenSoT11constraints19BilateralConstraint19BilateralConstraintEKNSt6stringERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::constraints::BilateralConstraint::BilateralConstraint"],[20,2,1,"_CPPv4N7OpenSoT11constraints19BilateralConstraint19BilateralConstraintERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::constraints::BilateralConstraint::BilateralConstraint"],[20,3,1,"_CPPv4N7OpenSoT1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regated7TaskPtrE","OpenSoT::operator/="],[251,3,1,"_CPPv4N7OpenSoTdVERN7OpenSoT9AutoStack3PtrEKN7OpenSoT5tasks10Aggregated7TaskPtrE","OpenSoT::operator/=::stack"],[251,3,1,"_CPPv4N7OpenSoTdVERN7OpenSoT9AutoStack3PtrEKN7OpenSoT5tasks10Aggregated7TaskPtrE","OpenSoT::operator/=::task"],[236,2,1,"_CPPv4N7OpenSoTlsEN7OpenSoT5tasks10Aggregated7TaskPtrEKN7OpenSoT5tasks10Aggregated7TaskPtrE","OpenSoT::operator<<"],[239,2,1,"_CPPv4N7OpenSoTlsEN7OpenSoT9AutoStack3PtrEKN7OpenSoT5tasks10Aggregated7TaskPtrE","OpenSoT::operator<<"],[241,2,1,"_CPPv4N7OpenSoTlsEN7OpenSoT5tasks10Aggregated3PtrEKN7OpenSoT11constraints10Aggregated13ConstraintPtrE","OpenSoT::operator<<"],[248,2,1,"_CPPv4N7OpenSoTlsERNSt7ostreamERK12AffineHelper","OpenSoT::operator<<"],[249,2,1,"_CPPv4N7OpenSoTlsEN7OpenSoT5tasks10Aggregated7TaskPtrEKN7OpenSoT11constraints10Aggregated13ConstraintPtrE","OpenSoT::operator<<"],[256,2,1,"_CPPv4N7OpenSoTlsEN7OpenSoT9AutoStack3PtrEKN7OpenSoT11constraints10Aggregated13ConstraintPtrE","OpenSoT::operator<<"],[248,3,1,"_CPPv4N7OpenSoTlsERNSt7ostreamERK12AffineHelper","OpenSoT::operator<<::affine"],[256,3,1,"_CPPv4N7OpenSoTlsEN7OpenSoT9AutoStack3PtrEKN7OpenSoT11constraints10Aggregated13ConstraintPtrE","OpenSoT::operator<<::bound"],[236,3,1,"_CPPv4N7OpenSoTlsEN7OpenSoT5tasks10Aggregated7TaskPtrEKN7OpenSoT5tasks10Aggregated7TaskPtrE","OpenSoT::operator<<::constraint"],[239,3,1,"_CPPv4N7OpenSoTlsEN7OpenSoT9AutoStack3PtrEKN7OpenSoT5tasks10Aggregated7TaskPtrE","OpenSoT::operator<<::constraint"],[241,3,1,"_CPPv4N7OpenSoTlsEN7OpenSoT5tasks10Aggregated3PtrEKN7OpenSoT11constraints10Aggregated13ConstraintPtrE","OpenSoT::operator<<::constraint"],[249,3,1,"_CPPv4N7OpenSoTlsEN7OpenSoT5tasks10Aggregated7TaskPtrEKN7OpenSoT11constraints10Aggregated13ConstraintPtrE","OpenSoT::operator<<::constraint"],[248,3,1,"_CPPv4N7OpenSoTlsERNSt7ostreamERK12AffineHelper","OpenSoT::operator<<::os"],[239,3,1,"_CPPv4N7OpenSoTlsEN7OpenSoT9AutoStack3PtrEKN7OpenSoT5tasks10Aggregated7TaskPtrE","OpenSoT::operator<<::stack"],[256,3,1,"_CPPv4N7OpenSoTlsEN7OpenSoT9AutoStack3PtrEKN7OpenSoT11constraints10Aggregated13ConstraintPtrE","OpenSoT::operator<<::stack1"],[236,3,1,"_CPPv4N7OpenSoTlsEN7OpenSoT5tasks10Aggregated7TaskPtrEKN7OpenSoT5tasks10Aggregated7TaskPtrE","OpenSoT::operator<<::task"],[241,3,1,"_CPPv4N7OpenSoTlsEN7OpenSoT5tasks10Aggregated3PtrEKN7OpenSoT11constraints10Aggregated13ConstraintPtrE","OpenSoT::operator<<::task"],[249,3,1,"_CPPv4N7OpenSoTlsEN7OpenSoT5tasks10Aggregated7TaskPtrEKN7OpenSoT11constraints10Aggregated13ConstraintPtrE","OpenSoT::operator<<::task"],[45,1,1,"_CPPv4N7OpenSoT7solvers7BackEndE","OpenSoT::solvers::BackEnd"],[45,2,1,"_CPPv4N7OpenSoT7solvers7BackEnd7BackEndEKiKi","OpenSoT::solvers::BackEnd::BackEnd"],[45,3,1,"_CPPv4N7OpenSoT7solvers7BackEnd7BackEndEKiKi","OpenSoT::solvers::BackEnd::BackEnd::number_of_constraints"],[45,3,1,"_CPPv4N7OpenSoT7solvers7BackEnd7BackEndEKiKi","OpenSoT::solvers::BackEnd::BackEnd::number_of_variables"],[45,6,1,"_CPPv4N7OpenSoT7solvers7BackEnd3PtrE","OpenSoT::solvers::BackEnd::Ptr"],[45,4,1,"_CPPv4N7OpenSoT7solvers7BackEnd2_AE","OpenSoT::solvers::BackEnd::_A"],[45,4,1,"_CPPv4N7OpenSoT7solvers7BackEnd2_HE","OpenSoT::solvers::BackEnd::_H"],[45,4,1,"_CPPv4N7OpenSoT7solvers7BackEnd2_gE","OpenSoT::solvers::BackEnd::_g"],[45,4,1,"_CPPv4N7OpenSoT7solvers7BackEnd2_lE","OpenSoT::solvers::BackEnd::_l"],[45,4,1,"_CPPv4N7OpenSoT7solvers7BackEnd3_lAE","OpenSoT::solvers::BackEnd::_lA"],[45,2,1,"_CPPv4N7OpenSoT7solvers7BackEnd4_logEN4XBot10MatLogger23PtrEiRKNSt6stringE","OpenSoT::solvers::BackEnd::_log"],[45,3,1,"_CPPv4N7OpenSoT7solvers7BackEnd4_logEN4XBot10MatLogger23PtrEiRKNSt6stringE","OpenSoT::solvers::BackEnd::_log::i"],[45,3,1,"_CPPv4N7OpenSoT7solvers7BackEnd4_logEN4XBot10MatLogger23PtrEiRKNSt6stringE","OpenSoT::solvers::BackEnd::_log::logger"],[45,3,1,"_CPPv4N7OpenSoT7solvers7BackEnd4_logEN4XBot10MatLogger23PtrEiRKNSt6stringE","OpenSoT::solvers::BackEnd::_log::prefix"],[45,4,1,"_CPPv4N7OpenSoT7solvers7BackEnd20_number_of_variablesE","OpenSoT::solvers::BackEnd::_number_of_variables"],[45,2,1,"_CPPv4N7OpenSoT7solvers7BackEnd24_printProblemInformationEv","OpenSoT::solvers::BackEnd::_printProblemInformation"],[45,4,1,"_CPPv4N7OpenSoT7solvers7BackEnd9_solutionE","OpenSoT::solvers::BackEnd::_solution"],[45,4,1,"_CPPv4N7OpenSoT7solvers7BackEnd2_uE","OpenSoT::solvers::BackEnd::_u"],[45,4,1,"_CPPv4N7OpenSoT7solvers7BackEnd3_uAE","OpenSoT::solvers::BackEnd::_uA"],[45,2,1,"_CPPv4N7OpenSoT7solvers7BackEnd4getAEv","OpenSoT::solvers::BackEnd::getA"],[45,2,1,"_CPPv4N7OpenSoT7solvers7BackEnd20getEpsRegularisationEv","OpenSoT::solvers::BackEnd::getEpsRegularisation"],[45,2,1,"_CPPv4N7OpenSoT7solvers7BackEnd4getHEv","OpenSoT::solvers::BackEnd::getH"],[45,2,1,"_CPPv4NK7OpenSoT7solvers7BackEnd17getNumConstraintsEv","OpenSoT::solvers::BackEnd::getNumConstraints"],[45,2,1,"_CPPv4NK7OpenSoT7solvers7BackEnd15getNumVariablesEv","OpenSoT::solvers::BackEnd::getNumVariables"],[45,2,1,"_CPPv4N7OpenSoT7solvers7BackEnd12getObjectiveEv","OpenSoT: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D_BOUNDS"],[366,4,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd18GLPKBackEndOptions12ROUND_BOUNDSE","OpenSoT::solvers::GLPKBackEnd::GLPKBackEndOptions::ROUND_BOUNDS"],[46,4,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd18GLPKBackEndOptions5paramE","OpenSoT::solvers::GLPKBackEnd::GLPKBackEndOptions::param"],[366,4,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd18GLPKBackEndOptions5paramE","OpenSoT::solvers::GLPKBackEnd::GLPKBackEndOptions::param"],[46,4,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd18GLPKBackEndOptions12var_id_kind_E","OpenSoT::solvers::GLPKBackEnd::GLPKBackEndOptions::var_id_kind_"],[366,4,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd18GLPKBackEndOptions12var_id_kind_E","OpenSoT::solvers::GLPKBackEnd::GLPKBackEndOptions::var_id_kind_"],[46,2,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd23getGLPKConstraintMatrixEv","OpenSoT::solvers::GLPKBackEnd::getGLPKConstraintMatrix"],[46,2,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd18getGLPKLowerBoundsEv","OpenSoT::solvers::GLPKBackEnd::getGLPKLowerBounds"],[46,2,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd23getGLPKLowerConstraintsEv","OpenSoT::solvers::GLPKBackEnd::getGLPKLowerConstraints"],[46,2,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd18getGLPKUpperBoundsEv","OpenSoT::solvers::GLPKBackEnd::getGLPKUpperBounds"],[46,2,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd23getGLPKUpperConstraintsEv","OpenSoT::solvers::GLPKBackEnd::getGLPKUpperConstraints"],[46,2,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd12getObjectiveEv","OpenSoT::solvers::GLPKBackEnd::getObjective"],[46,2,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd10getOptionsEv","OpenSoT::solvers::GLPKBackEnd::getOptions"],[46,6,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd5indexE","OpenSoT::solvers::GLPKBackEnd::index"],[46,2,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::GLPKBackEnd::initProblem"],[46,3,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::GLPKBackEnd::initProblem::A"],[46,3,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::GLPKBackEnd::initProblem::H"],[46,3,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::GLPKBackEnd::initProblem::g"],[46,3,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::GLPKBackEnd::initProblem::l"],[46,3,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::GLPKBackEnd::initProblem::lA"],[46,3,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::GLPKBackEnd::initProblem::u"],[46,3,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::GLPKBackEnd::initProblem::uA"],[46,6,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd4kindE","OpenSoT::solvers::GLPKBackEnd::kind"],[46,2,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd10setOptionsERKN5boost3anyE","OpenSoT::solvers::GLPKBackEnd::setOptions"],[46,3,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd10setOptionsERKN5boost3anyE","OpenSoT::solvers::GLPKBackEnd::setOptions::options"],[46,2,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd5solveEv","OpenSoT::solvers::GLPKBackEnd::solve"],[46,6,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd11var_id_kindE","OpenSoT::solvers::GLPKBackEnd::var_id_kind"],[46,2,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEnd7writeLPEv","OpenSoT::solvers::GLPKBackEnd::writeLP"],[46,2,1,"_CPPv4N7OpenSoT7solvers11GLPKBackEndD0Ev","OpenSoT::solvers::GLPKBackEnd::~GLPKBackEnd"],[47,1,1,"_CPPv4N7OpenSoT7solvers4HCODE","OpenSoT::solvers::HCOD"],[47,2,1,"_CPPv4N7OpenSoT7solvers4HCOD4HCODER5Stack13ConstraintPtrKd","OpenSoT::solvers::HCOD::HCOD"],[47,2,1,"_CPPv4N7OpenSoT7solvers4HCOD4HCODERN7OpenSoT9AutoStackEKd","OpenSoT::solvers::HCOD::HCOD"],[47,3,1,"_CPPv4N7OpenSoT7solvers4HCOD4HCODER5Stack13ConstraintPtrKd","OpenSoT::solvers::HCOD::HCOD::bounds"],[47,3,1,"_CPPv4N7OpenSoT7solvers4HCOD4HCODER5Stack13ConstraintPtrKd","OpenSoT::solvers::HCOD::HCOD::damping"],[47,3,1,"_CPPv4N7OpenSoT7solvers4HCOD4HCODERN7OpenSoT9AutoStackEKd","OpenSoT::solvers::HCOD::HCOD::damping"],[47,3,1,"_CPPv4N7OpenSoT7solvers4HCOD4HCODER5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xQPBackEnd::updateBounds::u"],[59,2,1,"_CPPv4N7OpenSoT7solvers13proxQPBackEnd17updateConstraintsERKN5Eigen3RefIKN5Eigen8MatrixXdEEERKN5Eigen3RefIKN5Eigen8VectorXdEEERKN5Eigen3RefIKN5Eigen8VectorXdEEE","OpenSoT::solvers::proxQPBackEnd::updateConstraints"],[59,3,1,"_CPPv4N7OpenSoT7solvers13proxQPBackEnd17updateConstraintsERKN5Eigen3RefIKN5Eigen8MatrixXdEEERKN5Eigen3RefIKN5Eigen8VectorXdEEERKN5Eigen3RefIKN5Eigen8VectorXdEEE","OpenSoT::solvers::proxQPBackEnd::updateConstraints::A"],[59,3,1,"_CPPv4N7OpenSoT7solvers13proxQPBackEnd17updateConstraintsERKN5Eigen3RefIKN5Eigen8MatrixXdEEERKN5Eigen3RefIKN5Eigen8VectorXdEEERKN5Eigen3RefIKN5Eigen8VectorXdEEE","OpenSoT::solvers::proxQPBackEnd::updateConstraints::lA"],[59,3,1,"_CPPv4N7OpenSoT7solvers13proxQPBackEnd17updateConstraintsERKN5Eigen3RefIKN5Eigen8MatrixXdEEERKN5Eigen3RefIKN5Eigen8VectorXdEEERKN5Eigen3RefIKN5Eigen8VectorXdEEE","OpenSoT::solvers::proxQPBackEnd::updateConstraints::uA"],[59,2,1,"_CPPv4N7OpenSoT7solvers13proxQPBackEnd10updateTaskERKN5Eigen8MatrixXdERKN5Eigen8VectorXdE","OpenSoT::solvers::proxQPBackEnd::updateTask"],[59,3,1,"_CPPv4N7OpenSoT7solvers13proxQPBackEnd10updateTaskERKN5Eigen8MatrixXdERKN5Eigen8VectorXdE","OpenSoT::solvers::proxQPBackEnd::updateTask::H"],[59,3,1,"_CPPv4N7OpenSoT7solvers13proxQPBackEnd10updateTaskERKN5Eigen8MatrixXdERKN5Eigen8VectorXdE","OpenSoT::solvers::proxQPBackEnd::updateTask::g"],[59,2,1,"_CPPv4N7OpenSoT7solvers13proxQPBackEndD0Ev","OpenSoT::solvers::proxQPBackEnd::~proxQPBackEnd"],[60,1,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEndE","OpenSoT::solvers::qpSWIFTBackEnd"],[60,2,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd20getEpsRegularisationEv","OpenSoT::solvers::qpSWIFTBackEnd::getEpsRegularisation"],[60,2,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd12getObjectiveEv","OpenSoT::solvers::qpSWIFTBackEnd::getObjective"],[60,2,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd10getOptionsEv","OpenSoT::solvers::qpSWIFTBackEnd::getOptions"],[60,2,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::qpSWIFTBackEnd::initProblem"],[60,3,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::qpSWIFTBackEnd::initProblem::A"],[60,3,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::qpSWIFTBackEnd::initProblem::H"],[60,3,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::qpSWIFTBackEnd::initProblem::g"],[60,3,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::qpSWIFTBackEnd::initProblem::l"],[60,3,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::qpSWIFTBackEnd::initProblem::lA"],[60,3,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::qpSWIFTBackEnd::initProblem::u"],[60,3,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd11initProblemERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8MatrixXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdERKN5Eigen8VectorXdE","OpenSoT::solvers::qpSWIFTBackEnd::initProblem::uA"],[60,2,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd14qpSWIFTBackEndEKiKiKd","OpenSoT::solvers::qpSWIFTBackEnd::qpSWIFTBackEnd"],[60,3,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd14qpSWIFTBackEndEKiKiKd","OpenSoT::solvers::qpSWIFTBackEnd::qpSWIFTBackEnd::eps_regularisation"],[60,3,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd14qpSWIFTBackEndEKiKiKd","OpenSoT::solvers::qpSWIFTBackEnd::qpSWIFTBackEnd::number_of_constraints"],[60,3,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd14qpSWIFTBackEndEKiKiKd","OpenSoT::solvers::qpSWIFTBackEnd::qpSWIFTBackEnd::number_of_variables"],[60,2,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd20setEpsRegularisationEKd","OpenSoT::solvers::qpSWIFTBackEnd::setEpsRegularisation"],[60,3,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd20setEpsRegularisationEKd","OpenSoT::solvers::qpSWIFTBackEnd::setEpsRegularisation::eps"],[60,2,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd10setOptionsERKN5boost3anyE","OpenSoT::solvers::qpSWIFTBackEnd::setOptions"],[60,3,1,"_CPPv4N7OpenSoT7solvers14qpSWIFTBackEnd10setOptionsERKN5boost3anyE","OpenSoT::solvers::qpSWIFTBackEnd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regated7TaskPtrERK12AffineHelperRK12AffineHelper","OpenSoT::solvers::task_to_constraint_helper::task_to_constraint_helper::x"],[61,2,1,"_CPPv4N7OpenSoT7solvers25task_to_constraint_helper6updateERKN5Eigen8VectorXdE","OpenSoT::solvers::task_to_constraint_helper::update"],[61,3,1,"_CPPv4N7OpenSoT7solvers25task_to_constraint_helper6updateERKN5Eigen8VectorXdE","OpenSoT::solvers::task_to_constraint_helper::update::x"],[230,2,1,"_CPPv4N7OpenSoT7solvers12whichBackEndEK16solver_back_ends","OpenSoT::solvers::whichBackEnd"],[230,3,1,"_CPPv4N7OpenSoT7solvers12whichBackEndEK16solver_back_ends","OpenSoT::solvers::whichBackEnd::be_solver"],[62,1,1,"_CPPv4N7OpenSoT5tasks10AggregatedE","OpenSoT::tasks::Aggregated"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated10AggregatedE7TaskPtr7TaskPtrKj","OpenSoT::tasks::Aggregated::Aggregated"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated10AggregatedE7TaskPtrKj","OpenSoT::tasks::Aggregated::Aggregated"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated10AggregatedEKNSt4listI7TaskPtrEEKj","OpenSoT::tasks::Aggregated::Aggregated"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated10AggregatedEKNSt4listI7TaskPtrEERKN5Eigen8VectorXdE","OpenSoT::tasks::Aggregated::Aggregated"],[62,3,1,"_CPPv4N7OpenSoT5tasks10Aggregated10AggregatedEKNSt4listI7TaskPtrEERKN5Eigen8VectorXdE","OpenSoT::tasks::Aggregated::Aggregated::q"],[62,3,1,"_CPPv4N7OpenSoT5tasks10Aggregated10AggregatedE7TaskPtrKj","OpenSoT::tasks::Aggregated::Aggregated::task"],[62,3,1,"_CPPv4N7OpenSoT5tasks10Aggregated10AggregatedE7TaskPtr7TaskPtrKj","OpenSoT::tasks::Aggregated::Aggregated::task1"],[62,3,1,"_CPPv4N7OpenSoT5tasks10Aggregated10AggregatedE7TaskPtr7TaskPtrKj","OpenSoT::tasks::Aggregated::Aggregated::task2"],[62,3,1,"_CPPv4N7OpenSoT5tasks10Aggregated10AggregatedEKNSt4listI7TaskPtrEEKj","OpenSoT::tasks::Aggregated::Aggregated::tasks"],[62,3,1,"_CPPv4N7OpenSoT5tasks10Aggregated10AggregatedEKNSt4listI7TaskPtrEERKN5Eigen8VectorXdE","OpenSoT::tasks::Aggregated::Aggregated::tasks"],[62,3,1,"_CPPv4N7OpenSoT5tasks10Aggregated10AggregatedE7TaskPtr7TaskPtrKj","OpenSoT::tasks::Aggregated::Aggregated::x_size"],[62,3,1,"_CPPv4N7OpenSoT5tasks10Aggregated10AggregatedE7TaskPtrKj","OpenSoT::tasks::Aggregated::Aggregated::x_size"],[62,3,1,"_CPPv4N7OpenSoT5tasks10Aggregated10AggregatedEKNSt4listI7TaskPtrEEKj","OpenSoT::tasks::Aggregated::Aggregated::x_size"],[62,6,1,"_CPPv4N7OpenSoT5tasks10Aggregated3PtrE","OpenSoT::tasks::Aggregated::Ptr"],[62,6,1,"_CPPv4N7OpenSoT5tasks10Aggregated11VectorPilerE","OpenSoT::tasks::Aggregated::VectorPiler"],[62,4,1,"_CPPv4N7OpenSoT5tasks10Aggregated11_TASK_PLUS_E","OpenSoT::tasks::Aggregated::_TASK_PLUS_"],[62,4,1,"_CPPv4N7OpenSoT5tasks10Aggregated22_aggregatedConstraintsE","OpenSoT::tasks::Aggregated::_aggregatedConstraints"],[62,4,1,"_CPPv4N7OpenSoT5tasks10Aggregated18_aggregationPolicyE","OpenSoT::tasks::Aggregated::_aggregationPolicy"],[62,4,1,"_CPPv4N7OpenSoT5tasks10Aggregated15_ownConstraintsE","OpenSoT::tasks::Aggregated::_ownConstraints"],[62,4,1,"_CPPv4N7OpenSoT5tasks10Aggregated6_tasksE","OpenSoT::tasks::Aggregated::_tasks"],[62,4,1,"_CPPv4N7OpenSoT5tasks10Aggregated5_tmpAE","OpenSoT::tasks::Aggregated::_tmpA"],[62,4,1,"_CPPv4N7OpenSoT5tasks10Aggregated5_tmpbE","OpenSoT::tasks::Aggregated::_tmpb"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated7_updateERKN5Eigen8VectorXdE","OpenSoT::tasks::Aggregated::_update"],[62,3,1,"_CPPv4N7OpenSoT5tasks10Aggregated7_updateERKN5Eigen8VectorXdE","OpenSoT::tasks::Aggregated::_update::x"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated10checkSizesEv","OpenSoT::tasks::Aggregated::checkSizes"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated18computeHessianTypeEv","OpenSoT::tasks::Aggregated::computeHessianType"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated18concatenateTaskIdsEKNSt4listI7TaskPtrEE","OpenSoT::tasks::Aggregated::concatenateTaskIds"],[62,3,1,"_CPPv4N7OpenSoT5tasks10Aggregated18concatenateTaskIdsEKNSt4listI7TaskPtrEE","OpenSoT::tasks::Aggregated::concatenateTaskIds::tasks"],[62,4,1,"_CPPv4N7OpenSoT5tasks10Aggregated14concatenatedIdE","OpenSoT::tasks::Aggregated::concatenatedId"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated29generateAggregatedConstraintsEv","OpenSoT::tasks::Aggregated::generateAggregatedConstraints"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated11generateAllEv","OpenSoT::tasks::Aggregated::generateAll"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated19generateConstraintsEv","OpenSoT::tasks::Aggregated::generateConstraints"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated14generateWeightEv","OpenSoT::tasks::Aggregated::generateWeight"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated24getAggregatedConstraintsEv","OpenSoT::tasks::Aggregated::getAggregatedConstraints"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated17getOwnConstraintsEv","OpenSoT::tasks::Aggregated::getOwnConstraints"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated11getTaskListEv","OpenSoT::tasks::Aggregated::getTaskList"],[62,2,1,"_CPPv4N7OpenSoT5tasks10Aggregated12isAggregatedEN7OpenSoT4TaskIN5Eigen8MatrixXdEN5Eigen8VectorXdEE7TaskPtrE","OpenSo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Pv4N7OpenSoT5tasks5force8Wrenches8WrenchesERKNSt6stringERKNSt6vectorINSt6stringEEERKNSt6vectorINSt6stringEEERKNSt6vectorI12AffineHelperEE","OpenSoT::tasks::force::Wrenches::Wrenches::id"],[79,3,1,"_CPPv4N7OpenSoT5tasks5force8Wrenches8WrenchesERKNSt6stringERKNSt6vectorINSt6stringEEERKNSt6vectorINSt6stringEEERKNSt6vectorI12AffineHelperEE","OpenSoT::tasks::force::Wrenches::Wrenches::wrenches"],[79,2,1,"_CPPv4N7OpenSoT5tasks5force8Wrenches13getWrenchTaskERKNSt6stringE","OpenSoT::tasks::force::Wrenches::getWrenchTask"],[79,3,1,"_CPPv4N7OpenSoT5tasks5force8Wrenches13getWrenchTaskERKNSt6stringE","OpenSoT::tasks::force::Wrenches::getWrenchTask::distal_link"],[80,1,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentumE","OpenSoT::tasks::velocity::AngularMomentum"],[80,2,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentum15AngularMomentumERKN5Eigen8VectorXdERN4XBot14ModelInterfaceE","OpenSoT::tasks::velocity::AngularMomentum::AngularMomentum"],[80,3,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentum15AngularMomentumERKN5Eigen8VectorXdERN4XBot14ModelInterfaceE","OpenSoT::tasks::velocity::AngularMomentum::AngularMomentum::robot"],[80,3,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentum15AngularMomentumERKN5Eigen8VectorXdERN4XBot14ModelInterfaceE","OpenSoT::tasks::velocity::AngularMomentum::AngularMomentum::x"],[80,6,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentum3PtrE","OpenSoT::tasks::velocity::AngularMomentum::Ptr"],[80,2,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentum17asAngularMomentumEN7OpenSoT4TaskIN5Eigen8MatrixXdEN5Eigen8VectorXdEE7TaskPtrE","OpenSoT::tasks::velocity::AngularMomentum::asAngularMomentum"],[80,3,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentum17asAngularMomentumEN7OpenSoT4TaskIN5Eigen8MatrixXdEN5Eigen8VectorXdEE7TaskPtrE","OpenSoT::tasks::velocity::AngularMomentum::asAngularMomentum::task"],[80,2,1,"_CPPv4NK7OpenSoT5tasks8velocity15AngularMomentum11getBaseLinkEv","OpenSoT::tasks::velocity::AngularMomentum::getBaseLink"],[80,2,1,"_CPPv4NK7OpenSoT5tasks8velocity15AngularMomentum13getDistalLinkEv","OpenSoT::tasks::velocity::AngularMomentum::getDistalLink"],[80,2,1,"_CPPv4NK7OpenSoT5tasks8velocity15AngularMomentum12getReferenceERN3KDL6VectorE","OpenSoT::tasks::velocity::AngularMomentum::getReference"],[80,2,1,"_CPPv4NK7OpenSoT5tasks8velocity15AngularMomentum12getReferenceERN5Eigen8Vector3dE","OpenSoT::tasks::velocity::AngularMomentum::getReference"],[80,3,1,"_CPPv4NK7OpenSoT5tasks8velocity15AngularMomentum12getReferenceERN3KDL6VectorE","OpenSoT::tasks::velocity::AngularMomentum::getReference::desiredAngularMomentum"],[80,3,1,"_CPPv4NK7OpenSoT5tasks8velocity15AngularMomentum12getReferenceERN5Eigen8Vector3dE","OpenSoT::tasks::velocity::AngularMomentum::getReference::desiredAngularMomentum"],[80,2,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentum17isAngularMomentumEN7OpenSoT4TaskIN5Eigen8MatrixXdEN5Eigen8VectorXdEE7TaskPtrE","OpenSoT::tasks::velocity::AngularMomentum::isAngularMomentum"],[80,3,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentum17isAngularMomentumEN7OpenSoT4TaskIN5Eigen8MatrixXdEN5Eigen8VectorXdEE7TaskPtrE","OpenSoT::tasks::velocity::AngularMomentum::isAngularMomentum::task"],[80,2,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentum12setReferenceERKN3KDL6VectorE","OpenSoT::tasks::velocity::AngularMomentum::setReference"],[80,2,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentum12setReferenceERKN5Eigen8Vector3dE","OpenSoT::tasks::velocity::AngularMomentum::setReference"],[80,3,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentum12setReferenceERKN3KDL6VectorE","OpenSoT::tasks::velocity::AngularMomentum::setReference::desiredAngularMomentum"],[80,3,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentum12setReferenceERKN5Eigen8Vector3dE","OpenSoT::tasks::velocity::AngularMomentum::setReference::desiredAngularMomentum"],[80,2,1,"_CPPv4N7OpenSoT5tasks8velocity15AngularMomentumD0Ev","OpenSoT::tasks::velocity::AngularMomentum::~AngularMomentum"],[81,1,1,"_CPPv4N7OpenSoT5tasks8velocity9CartesianE","OpenSoT::tasks::velocity::Cartesian"],[81,2,1,"_CPPv4N7OpenSoT5tasks8velocity9Cartesian9CartesianENSt6stringERKN5Eigen8VectorXdERN4XBot14ModelInterfaceERKNSt6stringERKNSt6stringE","OpenSoT::tasks::velocity::Cartesian::Cartesian"],[81,3,1,"_CPPv4N7OpenSoT5tasks8velocity9Cartesian9CartesianENSt6stringERKN5Eigen8VectorXdERN4XBot14ModelInterfaceERKNSt6stringERKNSt6stringE","OpenSoT::tasks::velocity::Cartesian::Cartesian::base_link"],[81,3,1,"_CPPv4N7OpenSoT5tasks8velocity9Cartesian9CartesianENSt6stringERKN5Eigen8VectorXdERN4XBot14ModelInterfaceERKNSt6stringERKNSt6stringE","OpenSoT::tasks::velocity::Cartesian::Cartesian::distal_link"],[81,3,1,"_CPPv4N7OpenSoT5tasks8velocity9Cartesian9CartesianENSt6stringERKN5Eigen8VectorXdERN4XBot14ModelInterfaceERKNSt6stringERKNSt6stringE","OpenSoT::tasks::velocity::Cartesian::Cartesian::robot"],[81,3,1,"_CPPv4N7OpenSoT5tasks8velocity9Cartesian9CartesianENSt6stringERKN5Eigen8VectorXdERN4XBot14ModelInterfaceERKNSt6stringERKNSt6stringE","OpenSoT::tasks::velocity::Cartesian::Cart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MinimumEffort::ComputeGTauGradient","Class Postural","Class PureRolling","Class PureRollingOrientation","Class PureRollingPosition","Class ForceOptimization","Class InverseDynamics","Class MatrixPiler","Class Torque","Template Class SVDPseudoInverse","Class cartesian_utils","Class convex_hull","Template Class CollisionObject","Class quaternion","Define BOUND_SCALING","Define BOUND_SCALING","Define __SOLVERS__HCOD__","Define BASE_LINK_COM","Define DISTAL_LINK_COM","Define OSQP_DEFAULT_EPS_REGULARISATION","Define QPOASES_DEFAULT_EPS_REGULARISATION","Define BASE_LINK_COM","Define DISTAL_LINK_COM","Define __SOLVERS__PSEUDOINVERSE__","Define EIQUADPROG_DEFAULT_EPS_REGULARISATION","Define BASE_LINK_COM","Define DISTAL_LINK_COM","Define DEFAULT_EPS_REGULARISATION","Define DEFAULT_EPS_REGULARISATION","Define PROXQP_DEFAULT_EPS_REGULARISATION","Define QPSWIFT_DEFAULT_EPS_REGULARISATION","Define BASE_LINK_COM","Define DISTAL_LINK_COM","Define WORLD_FRAME_NAME","Define BASE_LINK_COM","Define DISTAL_LINK_COM","Define WORLD_FRAME_NAME","Directory include","Directory OpenSoT","Directory constraints","Directory acceleration","Directory force","Directory velocity","Directory solvers","Directory tasks","Directory acceleration","Directory floating_base","Directory force","Directory velocity","Directory utils","Directory variables","Enum solver_back_ends","Enum GainType","Enum HessianType","File Constraint.h","File Solver.h","File SubConstraint.h","File SubTask.h","File Task.h","File Aggregated.h","File BilateralConstraint.h","File GenericConstraint.h","File TaskToConstraint.h","File JointLimits.h","File JointLimitsECBF.h","File JointLimitsViability.h","File TorqueLimits.h","File VelocityLimits.h","File CoP.h","File FrictionCone.h","File NormalTorque.h","File StaticConstraint.h","File WrenchLimits.h","File CartesianPositionConstraint.h","File CartesianVelocity.h","File CollisionAvoidance.h","File ConvexHull.h","File JointLimits.h","File JointLimitsInvariace.h","File OmniWheels4X.h","File VelocityLimits.h","File BackEnd.h","File BackEndFactory.h","File GLPKBackEnd.h","File HCOD.h","File OSQPBackEnd.h","File QPOasesBackEnd.h","File eHQP.h","File eiQuadProgBackEnd.h","File iHQP.h","File l1HQP.h","File nHQP.h","File proxQPBackEnd.h","File qpSWIFTBackEnd.h","File Aggregated.h","File GenericLPTask.h","File GenericTask.h","File MinimizeVariable.h","File AngularMomentum.h","File Cartesian.h","File CoM.h","File Contact.h","File DynamicFeasibility.h","File GainType.h","File MinJointVel.h","File Postural.h","File Contact.h","File IMU.h","File Cartesian.h","File CoM.h","File FloatingBase.h","File Force.h","File AngularMomentum.h","File Cartesian.h","File CartesianAdmittance.h","File CoM.h","File Contact.h","File Gaze.h","File JointAdmittance.h","File LinearMomentum.h","File Manipulability.h","File MinimumEffort.h","File Postural.h","File PureRolling.h","File Affine.h","File AffineUtils.h","File AutoStack.h","File ForceOptimization.h","File Indices.h","File InverseDynamics.h","File LinkPairDistance.h","File Piler.h","File cartesian_utils.h","File collision_utils.h","File convex_hull_utils.h","File Torque.h","Function toKdl(urdf::Vector3)","Function toKdl(urdf::Pose)","Function toKdl(urdf::Rotation)","Function OpenSoT::solvers::whichBackEnd","Function OpenSoT::solvers::BackEndFactory","Function OpenSoT::operator*(const Eigen::MatrixXd&, OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator+(const OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator*(const double, OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator%(const OpenSoT::constraints::Aggregated::ConstraintPtr, const std::list<unsigned int>&)","Function OpenSoT::operator<<(OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator%(const OpenSoT::tasks::Aggregated::TaskPtr, const std::list<unsigned int>&)","Function OpenSoT::operator/(const OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator<<(OpenSoT::AutoStack::Ptr, const OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator+(const OpenSoT::tasks::Aggregated::Ptr, const OpenSoT::tasks::Aggregated::Ptr)","Function OpenSoT::operator<<(OpenSoT::tasks::Aggregated::Ptr, const OpenSoT::constraints::Aggregated::ConstraintPtr)","Template Function OpenSoT::operator+(const AffineHelperBase<DerivedM1, DerivedQ1>&, const AffineHelperBase<DerivedM2, DerivedQ2>&)","Function OpenSoT::operator/(const OpenSoT::AutoStack::Ptr, const OpenSoT::AutoStack::Ptr)","Template Function OpenSoT::operator-(const AffineHelperBase<DerivedM1, DerivedQ1>&, const Eigen::MatrixBase<DerivedVector>&)","Function OpenSoT::operator*(const double, OpenSoT::tasks::Aggregated::Ptr)","Template Function OpenSoT::operator-(const AffineHelperBase<DerivedM1, DerivedQ1>&, const AffineHelperBase<DerivedM2, DerivedQ2>&)","Template Function OpenSoT::operator*(const DerivedMatrix&, const AffineHelperBase<DerivedM, DerivedQ>&)","Function OpenSoT::operator<<(std::ostream&, const AffineHelper&)","Function OpenSoT::operator<<(OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::constraints::Aggregated::ConstraintPtr)","Function OpenSoT::operator/(const OpenSoT::tasks::Aggregated::TaskPtr, OpenSoT::AutoStack::Ptr)","Function OpenSoT::operator/=","Template Function OpenSoT::operator+(const AffineHelperBase<DerivedM1, DerivedQ1>&, const Eigen::MatrixBase<DerivedVector>&)","Function OpenSoT::operator/(const OpenSoT::AutoStack::Ptr, const OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator+(const OpenSoT::tasks::Aggregated::Ptr, const OpenSoT::tasks::Aggregated::TaskPtr)","Function OpenSoT::operator+(const OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::tasks::Aggregated::Ptr)","Function OpenSoT::operator<<(OpenSoT::AutoStack::Ptr, const OpenSoT::constraints::Aggregated::ConstraintPtr)","Template Function OpenSoT::operator/(const AffineHelperBase<DerivedM1, DerivedQ1>&, const AffineHelperBase<DerivedM2, DerivedQ2>&)","Library API","Namespace OpenSoT","Namespace OpenSoT::AffineUtils","Namespace OpenSoT::constraints","Namespace OpenSoT::constraints::acceleration","Namespace OpenSoT::constraints::force","Namespace OpenSoT::constraints::velocity","Namespace OpenSoT::solvers","Namespace OpenSoT::tasks","Namespace OpenSoT::tasks::acceleration","Namespace OpenSoT::tasks::floating_base","Namespace OpenSoT::tasks::force","Namespace OpenSoT::tasks::velocity","Namespace OpenSoT::utils","Namespace OpenSoT::variables","Namespace XBot::Utils","Namespace fcl","Namespace idynutils","Namespace proxsuite","Namespace proxsuite::proxqp","Namespace qpOASES","Namespace soth","Namespace std","Todo List","Program Listing for File Constraint.h","Program Listing for File Solver.h","Program Listing for File SubConstraint.h","Program Listing for File SubTask.h","Program Listing for File Task.h","Program Listing for File Aggregated.h","Program Listing for File BilateralConstraint.h","Program Listing for File GenericConstraint.h","Program Listing for File TaskToConstraint.h","Program Listing for File JointLimits.h","Program Listing for File JointLimitsECBF.h","Program Listing for File JointLimitsViability.h","Program Listing for File TorqueLimits.h","Program Listing for File VelocityLimits.h","Program Listing for File CoP.h","Program Listing for File FrictionCone.h","Program Listing for File NormalTorque.h","Program Listing for File StaticConstraint.h","Program Listing for File WrenchLimits.h","Program Listing for File CartesianPositionConstraint.h","Program Listing for File CartesianVelocity.h","Program Listing for File CollisionAvoidance.h","Program Listing for File ConvexHull.h","Program Listing for File JointLimits.h","Program Listing for File JointLimitsInvariace.h","Program Listing for File OmniWheels4X.h","Program Listing for File VelocityLimits.h","Program Listing for File BackEnd.h","Program Listing for File BackEndFactory.h","Program Listing for File GLPKBackEnd.h","Program Listing for File HCOD.h","Program Listing for File OSQPBackEnd.h","Program Listing for File QPOasesBackEnd.h","Program Listing for File eHQP.h","Program Listing for File eiQuadProgBackEnd.h","Program Listing for File iHQP.h","Program Listing for File l1HQP.h","Program Listing for File nHQP.h","Program Listing for File proxQPBackEnd.h","Program Listing for File qpSWIFTBackEnd.h","Program Listing for File Aggregated.h","Program Listing for File GenericLPTask.h","Program Listing for File GenericTask.h","Program Listing for File MinimizeVariable.h","Program Listing for File AngularMomentum.h","Program Listing for File Cartesian.h","Program Listing for File CoM.h","Program Listing for File Contact.h","Program Listing for File DynamicFeasibility.h","Program Listing for File GainType.h","Program Listing for File MinJointVel.h","Program Listing for File Postural.h","Program Listing for File Contact.h","Program Listing for File IMU.h","Program Listing for File Cartesian.h","Program Listing for File CoM.h","Program Listing for File FloatingBase.h","Program Listing for File Force.h","Program Listing for File AngularMomentum.h","Program Listing for File Cartesian.h","Program Listing for File CartesianAdmittance.h","Program Listing for File CoM.h","Program Listing for File Contact.h","Program Listing for File Gaze.h","Program Listing for File JointAdmittance.h","Program Listing for File LinearMomentum.h","Program Listing for File Manipulability.h","Program Listing for File MinimumEffort.h","Program Listing for File Postural.h","Program Listing for File PureRolling.h","Program Listing for File Affine.h","Program Listing for File AffineUtils.h","Program Listing for File AutoStack.h","Program Listing for File ForceOptimization.h","Program Listing for File Indices.h","Program Listing for File InverseDynamics.h","Program Listing for File LinkPairDistance.h","Program Listing for File Piler.h","Program Listing for File cartesian_utils.h","Program Listing for File collision_utils.h","Program Listing for File convex_hull_utils.h","Program Listing for File Torque.h","Struct OptvarHelper::VarInfo","Struct Task::istrue","Struct GLPKBackEnd::GLPKBackEndOptions","Struct stack_level","Typedef OpenSoT::solvers::solver_back_ends_iterator","Typedef OpenSoT::AffineHelper","Typedef fcl::CollisionObjectd","Typedef soth::VectorBound","Full API","Constraint","eHQP","iHQP","Welcome to the OpenSoT\u2019s documentation!","Intro","nHQP","Solver","iHQP: back-end comparison","Stack","Task","Variables"],titleterms:{"35":380,"7":380,"class":[2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,258,259,260,261,262,263,264,265,266,267,268,269,270,271,272,274],"const":[232,233,234,235,236,237,238,239,240,241,242,243,244,245,246,247,248,249,250,252,253,254,255,256,257],"enum":[142,143,144,149,173,194,258,259,265,267],"function":[173,215,217,224,227,228,229,230,231,232,233,234,235,236,237,238,239,240,241,242,243,244,245,246,247,248,249,250,251,252,253,254,255,256,257,258,259,265],"int":[235,237],By:[145,146,147,148,149,150,151,152,153,159,160,172,173,180,185,186,187,188,194,196,201,204,206,213,215,217,219,221,222,223,225],__solvers__hcod__:107,__solvers__pseudoinverse__:114,acceler:[131,136,154,155,156,157,158,189,190,191,192,193,194,195,196,262,267],affin:[215,352,383],affineconstraint:9,affinehelp:[248,369],affinehelperbas:[8,242,244,246,247,252,257],affinetask:10,affineutil:[216,260,353],aggreg:[19,62,150,185,232,233,234,235,236,237,238,239,240,241,245,249,250,253,254,255,256,287,322],aknowledg:1,angularmomentum:[66,80,189,203,326,340],api:[258,372],autostack:[11,217,239,243,250,253,256,354],avail:379,back:380,backend:[45,172,309],backendfactori:[173,231,310],base:[9,10,16,17,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,46,47,49,50,51,52,53,54,55,56,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,99],base_link_com:[108,112,116,122,125],bilateralconstraint:[20,151,288,373],bound_scal:[105,106],cartesian:[67,75,81,190,199,204,327,336,341],cartesian_util:[101,223,360],cartesianadmitt:[82,205,342],cartesianpositionconstraint:[37,164,301],cartesianveloc:[38,165,302],collision_util:[224,361],collisionavoid:[39,166,303],collisionobject:103,collisionobjectd:370,com:[68,76,83,191,200,206,328,337,343],comparison:380,computegtaugradi:91,computelinksdist:[2,3],computemanipulabilityindexgradi:89,constraint:[12,130,145,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,235,241,249,256,261,262,263,264,282,373,383],constraint_help:51,constraintptr:[235,241,249,256],contact:[69,73,84,192,197,207,329,334,344],content:[145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,259,260,261,262,263,264,265,266,267,268,269,270,271,272,274,276,279,376],convex_hul:102,convex_hull_util:[225,362],convexhul:[40,167,304],cop:[28,29,159,296],costfunct:4,default_eps_regularis:[118,119],defin:[105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,164,167,175,176,177,178,179,180,181,183,184,189,200,203,204,206,207,210,258],definit:[145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226],deriv:[4,20,45,81,92],derivedm1:[242,244,246,252,257],derivedm2:[242,246,257],derivedm:247,derivedmatrix:247,derivedq1:[242,244,246,252,257],derivedq2:[242,246,257],derivedq:247,derivedvector:[244,252],directori:[128,129,130,131,132,133,134,135,136,137,138,139,140,141,372],distal_link_com:[109,113,117,123,126],document:[2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,142,143,144,227,228,229,230,231,232,233,234,235,236,237,238,239,240,241,242,243,244,245,246,247,248,249,250,251,252,253,254,255,256,257,364,365,366,367,368,369,370,371,376],dof:380,doubl:[234,245],dynamicfeas:[70,193,330],ehqp:[52,178,315,374],eigen:[232,244,252],eiquadprog_default_eps_regularis:115,eiquadprogbackend:[53,179,316],end:380,fcl:[274,370],featur:376,file:[129,130,131,132,133,134,135,136,137,138,139,140,141,145,146,147,148,149,150,15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3,294,295,296,297,298,299,300,301,302,303,304,305,306,307,308,309,310,311,312,313,314,315,316,317,318,319,320,321,322,323,324,325,326,327,328,329,330,331,332,333,334,335,336,337,338,339,340,341,342,343,344,345,346,347,348,349,350,351,352,353,354,355,356,357,358,359,360,361,362,363],proxqp:277,proxqp_default_eps_regularis:120,proxqpbackend:[59,183,320],proxsuit:[276,277],ptr:[239,240,241,243,245,250,253,254,255,256],purerol:[93,214,351],purerollingorient:94,purerollingposit:95,qpoas:278,qpoases_default_eps_regularis:111,qpoasesbackend:[50,177,314],qpswift_default_eps_regularis:121,qpswiftbackend:[60,184,321],quaternion:104,relationship:[2,3,4,9,10,14,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,99,364,365,366],rotat:229,runner:[145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226],s:376,solver:[15,134,146,172,173,174,175,176,177,178,179,180,181,182,183,184,230,231,265,283,368,379],solver_back_end:142,solver_back_ends_iter:368,soth:[279,371],stack:381,stack_level:367,staticconstraint:[34,162,299],std:[235,237,248,280],struct:[258,364,365,366,367],subconstraint:[16,147,284,373],subdirectori:[128,129,130,135],subtask:[17,148,285,382],svdpseudoinvers:100,task:[18,135,149,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,232,233,234,236,237,238,239,240,241,245,249,250,253,254,255,266,267,268,269,270,286,365,382,383],task_to_constraint_help:61,taskdata:57,taskptr:[232,233,234,236,237,238,239,249,250,253,254,255],tasktoconstraint:[22,153,290],templat:[6,8,12,15,18,48,100,103,242,244,246,247,252,257],todo:281,tokdl:[227,228,229],torqu:[99,226,363],torquelimit:[26,157,294],type:[2,4,9,10,14,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,49,50,51,52,53,54,55,56,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,99],typedef:[166,173,175,215,258,259,265,274,279,368,369,370,371],unsign:[235,237],urdf:[227,228,229],usag:383,util:[140,215,216,217,218,219,220,221,222,223,224,225,271,273],variabl:[141,226,272,383],varinfo:364,vector3:227,vectorbound:371,veloc:[133,139,164,165,166,167,168,169,170,171,203,204,205,206,207,208,209,210,211,212,213,214,264,270],velocitylimit:[27,44,158,171,295,308],welcom:376,whichbackend:230,work:[145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226],world_frame_nam:[124,127],wrench:[78,79],wrencheslimit:36,wrenchlimit:[35,163,300],xbot:273}})
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