#include <pqpdem.h>
Inheritance diagram for gcop::PqpDem< T, _nx, _nu, _np >:
Collaboration diagram for gcop::PqpDem< T, _nx, _nu, _np >:
Public Types | |
| typedef Matrix< double, 1, 1 > | Vectorgd |
| typedef Matrix< double, 1, _nx > | Matrixgxd |
| typedef Matrix< double, 1, _nu > | Matrixgud |
| typedef Matrix< double, 1, _np > | Matrixgpd |
| typedef Matrix< double, _nx, 1 > | Vectornd |
| typedef Matrix< double, _nu, 1 > | Vectorcd |
| typedef Matrix< double, _np, 1 > | Vectormd |
Public Member Functions | |
| PqpDem (const Dem &dem, double cr=0.1, double sd=0.0) | |
| virtual | ~PqpDem () |
| bool | operator() (Vectorgd &g, double t, const T &x, const Vectorcd &u, const Vectormd *p=0, Matrixgxd *dgdx=0, Matrixgud *dgdu=0, Matrixgpd *dgdp=0) |
| bool | operator() (Vectorgd &g, double t, const T &x, Matrixgxd *dgdx=0) |
Public Attributes | |
| const Dem & | dem |
| digital elevation map | |
| PQP_Model * | pm |
| PQP_REAL | pt [3] |
| PQP_REAL | pR [3][3] |
| PQP_Model * | dm |
| PQP_REAL | dt [3] |
| PQP_REAL | dR [3][3] |
| PQP_DistanceResult | dres |
| PQP_ToleranceResult | tres |
| double | cr |
| collision radius | |
| double | sd |
| additional safety distance | |
| Body3dState | xb |
| body state for collision purposes | |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
class gcop::PqpDem< T, _nx, _nu, _np >
Member Typedef Documentation
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| typedef Matrix<double, 1, _np> gcop::PqpDem< T, _nx, _nu, _np >::Matrixgpd |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| typedef Matrix<double, 1, _nu> gcop::PqpDem< T, _nx, _nu, _np >::Matrixgud |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| typedef Matrix<double, 1, _nx> gcop::PqpDem< T, _nx, _nu, _np >::Matrixgxd |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| typedef Matrix<double, _nu, 1> gcop::PqpDem< T, _nx, _nu, _np >::Vectorcd |
Reimplemented from gcop::Constraint< T, _nx, _nu, _np, 1 >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| typedef Matrix<double, 1, 1> gcop::PqpDem< T, _nx, _nu, _np >::Vectorgd |
Reimplemented from gcop::Constraint< T, _nx, _nu, _np, 1 >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| typedef Matrix<double, _np, 1> gcop::PqpDem< T, _nx, _nu, _np >::Vectormd |
Reimplemented from gcop::Constraint< T, _nx, _nu, _np, 1 >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| typedef Matrix<double, _nx, 1> gcop::PqpDem< T, _nx, _nu, _np >::Vectornd |
Reimplemented from gcop::Constraint< T, _nx, _nu, _np, 1 >.
Constructor & Destructor Documentation
template<typename T , int _nx, int _nu, int _np>
| gcop::PqpDem< T, _nx, _nu, _np >::PqpDem | ( | const Dem & | dem, |
| double | cr = 0.1, |
||
| double | sd = 0.0 |
||
| ) |
References gcop::PqpDem< T, _nx, _nu, _np >::cr, gcop::PqpDem< T, _nx, _nu, _np >::dm, gcop::PqpDem< T, _nx, _nu, _np >::dR, gcop::PqpDem< T, _nx, _nu, _np >::dt, gcop::Dem::Get(), gcop::Dem::ni, gcop::Dem::nj, gcop::PqpDem< T, _nx, _nu, _np >::pm, gcop::PqpDem< T, _nx, _nu, _np >::pR, and gcop::PqpDem< T, _nx, _nu, _np >::pt.
template<typename T , int _nx, int _nu, int _np>
| gcop::PqpDem< T, _nx, _nu, _np >::~PqpDem | ( | ) | [virtual] |
Member Function Documentation
template<typename T , int _nx, int _nu, int _np>
| bool gcop::PqpDem< T, _nx, _nu, _np >::operator() | ( | Vectorgd & | g, |
| double | t, | ||
| const T & | x, | ||
| const Vectorcd & | u, | ||
| const Vectormd * | p = 0, |
||
| Matrixgxd * | dgdx = 0, |
||
| Matrixgud * | dgdu = 0, |
||
| Matrixgpd * | dgdp = 0 |
||
| ) |
Referenced by gcop::PqpDem< T, _nx, _nu, _np >::operator()().
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| bool gcop::PqpDem< T, _nx, _nu, _np >::operator() | ( | Vectorgd & | g, |
| double | t, | ||
| const T & | x, | ||
| Matrixgxd * | dgdx = 0 |
||
| ) | [inline] |
References gcop::PqpDem< T, _nx, _nu, _np >::operator()().
Member Data Documentation
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| double gcop::PqpDem< T, _nx, _nu, _np >::cr |
collision radius
Referenced by gcop::PqpDem< T, _nx, _nu, _np >::PqpDem().
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| const Dem& gcop::PqpDem< T, _nx, _nu, _np >::dem |
digital elevation map
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| PQP_Model* gcop::PqpDem< T, _nx, _nu, _np >::dm |
Referenced by gcop::PqpDem< T, _nx, _nu, _np >::PqpDem().
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| PQP_REAL gcop::PqpDem< T, _nx, _nu, _np >::dR[3][3] |
Referenced by gcop::PqpDem< T, _nx, _nu, _np >::PqpDem().
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| PQP_DistanceResult gcop::PqpDem< T, _nx, _nu, _np >::dres |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| PQP_REAL gcop::PqpDem< T, _nx, _nu, _np >::dt[3] |
Referenced by gcop::PqpDem< T, _nx, _nu, _np >::PqpDem().
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| PQP_Model* gcop::PqpDem< T, _nx, _nu, _np >::pm |
Referenced by gcop::PqpDem< T, _nx, _nu, _np >::PqpDem().
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| PQP_REAL gcop::PqpDem< T, _nx, _nu, _np >::pR[3][3] |
Referenced by gcop::PqpDem< T, _nx, _nu, _np >::PqpDem().
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| PQP_REAL gcop::PqpDem< T, _nx, _nu, _np >::pt[3] |
Referenced by gcop::PqpDem< T, _nx, _nu, _np >::PqpDem().
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| double gcop::PqpDem< T, _nx, _nu, _np >::sd |
additional safety distance
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| PQP_ToleranceResult gcop::PqpDem< T, _nx, _nu, _np >::tres |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| Body3dState gcop::PqpDem< T, _nx, _nu, _np >::xb |
body state for collision purposes
The documentation for this class was generated from the following file:
- lib/systems/constraints/pqpdem.h
