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humoto
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The root namespace of HuMoTo.
Namespaces | |
| config | |
| Namespace of classes related to configuration handling. | |
| constraints | |
| kktsolver | |
| pepper_ik | |
| pepper_mpc | |
| qpmad | |
| qpoases | |
| quadprogpp | |
| rbdl | |
| Interface for RBDL + additional functionality. | |
| rigidbody | |
| Namespace containing definitions related to rigid bodies and their motions. | |
| walking | |
| Namespace containing definitions, which are specific to walking. | |
| wpg04 | |
Classes | |
| class | ActiveSet |
| Active set corresponding to a hierarchy of Constraints. More... | |
| class | ActiveSetConstraints |
| Active set corresponding to Constraints class. More... | |
| class | AngleIndex |
| Indices of RPY angles. More... | |
| class | AxisIndex |
| Index of an axis. More... | |
| class | ConfigurableOptimizationProblem |
| Class representing the hierarchy of the problem. More... | |
| class | ConstraintActivationType |
| Type of constraint activation. More... | |
| class | ControlProblem |
| Abstract base class (for control problems) More... | |
| class | ControlProblemStatus |
| Status of control problem. More... | |
| class | GeneralTaskBaseMixin |
| General task mixin – should be used in building general tasks. More... | |
| class | HierarchyLevel |
| This class represents one level of a hierarchy. More... | |
| class | LeftOrRight |
| This enum is used to handle symmetric objects (left / right foot etc). More... | |
| class | LeftRightContainer |
| Container for two symmetric objects. More... | |
| class | Location |
| Location of a data chunk (offset + length). More... | |
| class | LogEntryName |
| Represents log entry name. More... | |
| class | Logger |
| Threaded logger: any data sent to this logger is wrapped in a message and pushed to a queue, the queue is processed in a separate thread. Hence, time consuming output does not delay execution of the main thread(s). More... | |
| class | LoggerBase |
| Logger base class (stream handling) More... | |
| class | LogMessage |
| Standard (with a name) log message. More... | |
| class | LogMessageBase |
| Virtual base class for representation of an enqueued log message. More... | |
| class | LogMessageRaw |
| Raw log message (without a name) More... | |
| class | Model |
| Instances of this class are passed to a virtual method 'humoto::TaskBase::form()', so even though this class is basically useless in its present form we cannot avoid its definition using a template. More... | |
| class | ModelState |
| Abstract class to be used for interfaces. More... | |
| class | MPC |
| Abstract base class for Model Predictive Control problems. More... | |
| class | OctaveFormatter |
| A collection of functions which format data to be parsable by MATLAB/Octave. More... | |
| class | OptimizationProblem |
| An optimization problem [initialize_stack.m, simulation_loop.m]. More... | |
| class | QPConstraints_AB |
| QP constraints container. More... | |
| class | QPConstraints_AB_AL |
| QP constraints container. More... | |
| class | QPConstraints_ILU_ALU |
| QP constraints container. More... | |
| class | QPObjective |
| A container for a QP Objective. More... | |
| class | QPProblem_AB |
| A QP problem with constraints of a specific type. More... | |
| class | QPProblem_AB_AL |
| A QP problem with constraints of a specific type. More... | |
| class | QPProblem_ILU_ALU |
| A QP problem with constraints of a specific type. More... | |
| class | QPProblemBase |
| QP problem base class. More... | |
| class | QPSolverMixin |
| Mixin solver interface (QP solver) More... | |
| class | SimpleTaskBaseMixin |
| simple task mixin – should be used in building general tasks More... | |
| class | Solution |
| Container of the solution. More... | |
| class | SolutionStructure |
| Analog of 'sol_structure' struct in Octave code. [determine_solution_structure.m]. More... | |
| class | Solver |
| Base solver class. More... | |
| class | SolverGuessActiveSet |
| Solver class with active set guessing. More... | |
| class | SolverGuessActiveSetMixin |
| Mixin solver interface (active set guessing) More... | |
| class | SolverGuessSolution |
| Solver class with solution guessing. More... | |
| class | SolverGuessSolutionActiveSet |
| Solver class with active set and solution guessing. More... | |
| class | SolverGuessSolutionActiveSetMixin |
| Mixin solver interface (active set and solution guessing) More... | |
| class | SolverGuessSolutionMixin |
| Mixin solver interface (solution guessing) More... | |
| class | SolverParametersBase |
| Parameters of a solver. More... | |
| class | SolverStatus |
| Return status of a solver. More... | |
| class | TaskAB |
| Task: A*x = b. More... | |
| class | TaskAB0 |
| Task: A*x = 0. More... | |
| class | TaskAL |
| Task: lb <= A*x. More... | |
| class | TaskALU |
| Task: lb <= A*x <= ub. More... | |
| class | TaskASB |
| Task: A*S*x = b. More... | |
| class | TaskASB0 |
| Task: A*S*x = 0. More... | |
| class | TaskASL |
| Task: lb <= A*S*x. More... | |
| class | TaskASLU |
| Task: lb <= A*S*x <= ub. More... | |
| class | TaskASU |
| Task: A*S*x <= ub. More... | |
| class | TaskAU |
| Task: A*x <= ub. More... | |
| class | TaskBase |
| Abstract base class (a task in a stack of tasks / hierarchy). More... | |
| class | TaskGIB |
| Task: diag(G)*x[I] = b. More... | |
| class | TaskGIB0 |
| Task: diag(G)*x[I] = 0. More... | |
| class | TaskGIL |
| Task: lb <= diag(G)*x[I]. More... | |
| class | TaskGILU |
| Task: lb <= diag(G)*x[I] <= ub. More... | |
| class | TaskGIU |
| Task: diag(G)*x[I] <= ub. More... | |
| class | TaskIB |
| Task: x[I] = b. More... | |
| class | TaskIB0 |
| Task: x[I] = 0. More... | |
| class | TaskIL |
| Task: lb <= x[I]. More... | |
| class | TaskILU |
| Task: lb <= x[I] <= ub. More... | |
| class | TaskInfeasibleInequality |
| Infeasible inequality task for testing purposes. More... | |
| class | TaskIU |
| Task: x[I] <= ub. More... | |
| class | TaskZeroSelectedVariables |
| Same as humoto::TaskZeroVariables, but the variables need not to be continuous. More... | |
| class | TaskZeroVariables |
| [task_zerovars.m] Set given variables to zero, i.e. minimize these variables. More... | |
| class | Timer |
| Timer. More... | |
| class | Violations |
| Violations corresponding to a hierarchy of Constraints. More... | |
| class | ViolationsConstraints |
| Violations corresponding to Constraints class. More... | |
| class | WeightedSimpleTaskBaseMixin |
| simple task mixin – should be used in building general tasks More... | |
Typedefs | |
| typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE | EigenIndex |
| typedef Eigen::Matrix< unsigned int, Eigen::Dynamic, 1 > | IndexVector |
| typedef boost::shared_ptr< humoto::TaskBase > | TaskSharedPointer |
Functions | |
| double HUMOTO_LOCAL | convertDegreesToRadians (const double degrees) |
| Convert degrees to radians. More... | |
| double HUMOTO_LOCAL | convertMillisecondToSecond (const std::size_t milliseconds) |
| Converts milliseconds to seconds. More... | |
| double HUMOTO_LOCAL | convertRadiansToDegrees (const double radians) |
| Convert radians to degrees. More... | |
| std::size_t HUMOTO_LOCAL | convertSecondToMillisecond (const double seconds) |
| Converts seconds to milliseconds. More... | |
| double HUMOTO_LOCAL | getEncircledSquareSide (const double radius) |
| Function computing side length of a square inscribed inside of a circle of given radius. More... | |
| bool | isApproximatelyEqual (const double var1, const double var2, const double tol=humoto::g_generic_tolerance) |
| Returns true if the difference between two given variables is below the given tolerance. More... | |
| std::size_t HUMOTO_LOCAL | truncateSecondToMillisecond (const double seconds) |
| Converts seconds to milliseconds (with truncation instead of rounding) More... | |
Variables | |
| const double | g_generic_tolerance = 1e-12 |
| Generic tolerance, should be used by default. More... | |
| const double | g_gravitational_acceleration = 9.8 |
| Gravitational acceleration. More... | |
| const double | g_infinity = 1e20 |
| Infinity. More... | |
| const double | g_pi = 3.14159265358979323846 |
| PI constant. More... | |
| typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE humoto::EigenIndex |
| typedef Eigen::Matrix<unsigned int, Eigen::Dynamic, 1> humoto::IndexVector |
| typedef boost::shared_ptr<humoto::TaskBase> humoto::TaskSharedPointer |
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| const double humoto::g_generic_tolerance = 1e-12 |
Generic tolerance, should be used by default.
Definition at line 28 of file constants.h.
| const double humoto::g_gravitational_acceleration = 9.8 |
Gravitational acceleration.
Definition at line 21 of file constants.h.
| const double humoto::g_infinity = 1e20 |
Infinity.
Definition at line 24 of file constants.h.
| const double humoto::g_pi = 3.14159265358979323846 |
PI constant.
Definition at line 18 of file constants.h.
1.8.13