Collaboration diagram for InstantaneousQPController:

Public Member Functions
	InstantaneousQPController (std::unique_ptr< RigidBodyTree > robot_in, const std::map< std::string, QPControllerParams > &param_sets_in, const RobotPropertyCache &rpc_in)

	InstantaneousQPController (std::unique_ptr< RigidBodyTree > robot_in, const std::string &control_config_filename)

	InstantaneousQPController (const std::string &urdf_filename, const std::string &control_config_filename)

int	setupAndSolveQP (const drake::lcmt_qp_controller_input &qp_input, const DrakeRobotState &robot_state, const Eigen::Ref< const Eigen::Matrix< bool, Eigen::Dynamic, 1 >> &contact_detected, const std::map< Side, ForceTorqueMeasurement > &foot_force_torque_measurements, QPControllerOutput &qp_output, QPControllerDebugData *debug=NULL)

const RigidBodyTree &	getRobot () const

Public Attributes
std::unordered_map< std::string, int >	body_or_frame_name_to_id

Constructor & Destructor Documentation

InstantaneousQPController	(	std::unique_ptr< RigidBodyTree >	robot_in,
		const std::map< std::string, QPControllerParams > &	param_sets_in,
		const RobotPropertyCache &	rpc_in
	)

inline

InstantaneousQPController	(	std::unique_ptr< RigidBodyTree >	robot_in,
		const std::string &	control_config_filename
	)

inline

InstantaneousQPController	(	const std::string &	urdf_filename,
		const std::string &	control_config_filename
	)

inline

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Member Function Documentation

const RigidBodyTree& getRobot ( ) const

inline

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int setupAndSolveQP	(	const drake::lcmt_qp_controller_input &	qp_input,
		const DrakeRobotState &	robot_state,
		const Eigen::Ref< const Eigen::Matrix< bool, Eigen::Dynamic, 1 >> &	contact_detected,
		const std::map< Side, ForceTorqueMeasurement > &	foot_force_torque_measurements,
		QPControllerOutput &	qp_output,
		QPControllerDebugData *	debug = `NULL`
	)

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std::unordered_map<std::string, int> body_or_frame_name_to_id

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