WB-Toolbox
6.0.1
A Simulink Toolbox for Whole Body Control
|
#include "WBToolbox/Block/QpOases.h"
#include <BlockFactory/Core/BlockInformation.h>
#include <BlockFactory/Core/Log.h>
#include <BlockFactory/Core/Parameter.h>
#include <BlockFactory/Core/Parameters.h>
#include <BlockFactory/Core/Signal.h>
#include <Eigen/Core>
#include <qpOASES.hpp>
#include <ostream>
#include <tuple>
Classes | |
class | wbt::block::QpOases::impl |
Typedefs | |
using | MatrixXdSimulink = Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor > |
using | MatrixXdQpOases = Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > |
Enumerations | |
enum | ParamIndex { Bias = Block::NumberOfParameters - 1 , WBStruct , ConfBlockName , Bias = Block::NumberOfParameters - 1 , FilterStruct , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , Frame , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , Frame , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , LimitType , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , MeasType , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , Frame , Bias = Block::NumberOfParameters - 1 , SampleTime , SettlingTime , FirstDerivative , SecondDerivative , ReadInitialValue , ExtSettlingTime , ResetOnChange , Bias = Block::NumberOfParameters - 1 , UseLbA , UseUbA , UseLb , UseUb , ComputeObjVal , StopWhenFails , AdaptiveRho , Polish , MaxIterations , Bias = Block::NumberOfParameters - 1 , UseLbA , UseUbA , UseLb , UseUb , ComputeObjVal , StopWhenFails , Bias = Block::NumberOfParameters - 1 , Period , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , RefFrame , Frame , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , Frame1 , Frame2 , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , SetP , SetI , SetD , PidCtrlType , SetKTau , KTau , SetBemf , Bemf , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , CtrlType , TrajRef , Bias = Block::NumberOfParameters - 1 , Period , GzClkPort , RpcPort , Bias = Block::NumberOfParameters - 1 , PortName , PortSize , WaitData , ReadTimestamp , Autoconnect , ErrMissingPort , Timeout , Bias = Block::NumberOfParameters - 1 , PortName , Autoconnect , ErrMissingPort } |
enum | InputIndex { BasePose = 0 , JointConfiguration , BaseVelocity , JointVelocity , BasePose = 0 , JointConfiguration , InputSignal = 0 , BasePose = 0 , JointConfiguration , BaseVelocity , JointVelocity , BasePose = 0 , JointConfiguration , BasePose = 0 , JointConfiguration , BaseVelocity , JointVelocity , BaseAcceleration , JointAcceleration , BasePose = 0 , JointConfiguration , BasePose = 0 , JointConfiguration , InputSignal = 0 , Hessian = 0 , Gradient , Hessian = 0 , Gradient , JointConfiguration = 0 , JointConfiguration = 0 , References = 0 , Signal = 0 } |
enum | OutputIndex { CentroidalMomentum = 0 , CentroidalTotalMomentumMatrix = 0 , FilteredSignal = 0 , DotJNu = 0 , Transform = 0 , MinLimit = 0 , MaxLimit , Measurement = 0 , Torques = 0 , Jacobian = 0 , MassMatrix = 0 , FilteredSignal = 0 , PrimalSolution = 0 , Status , PrimalSolution = 0 , Status , RelativeJacobian = 0 , Transform = 0 , Clock = 0 , Signal = 0 } |
Variables | |
const unsigned | MaxIterations = 100 |
static size_t | InputIndex_constraints = InputIndex::Gradient |
static size_t | InputIndex_lbA = InputIndex::Gradient |
static size_t | InputIndex_ubA = InputIndex::Gradient |
static size_t | InputIndex_lb = InputIndex::Gradient |
static size_t | InputIndex_ub = InputIndex::Gradient |
static size_t | OutputIndex_objVal = OutputIndex::Status |
using MatrixXdQpOases = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> |
using MatrixXdSimulink = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor> |
enum InputIndex |
enum OutputIndex |
enum ParamIndex |
|
static |
|
static |
|
static |
|
static |
|
static |
const unsigned MaxIterations = 100 |
|
static |