Class HCOD
Defined in File HCOD.h
Inheritance Relationships
Base Type
public OpenSoT::Solver< Eigen::MatrixXd, Eigen::VectorXd >(Template Class Solver)
Class Documentation
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class HCOD : public OpenSoT::Solver<Eigen::MatrixXd, Eigen::VectorXd>
The HCOD class implements the front-end for the hcod solver in https://github.com/stack-of-tasks/soth.
Public Functions
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HCOD(OpenSoT::AutoStack &stack_of_tasks, const double damping)
HCOD.
- Parameters
stack_of_tasks –
damping – factor (like regularization)
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HCOD(Stack &stack_of_tasks, ConstraintPtr bounds, const double damping)
HCOD.
- Parameters
stack_of_tasks – vector of prioritized tasks
bounds – vector of constraints
damping – factor (like regularization)
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~HCOD()
brief ~HCOD destructor
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virtual bool solve(Eigen::VectorXd &solution)
solve a stack of tasks
- Parameters
solution – vector
- Returns
true if all the stack is solved
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std::shared_ptr<soth::HCOD> getInternalSolver()
getInternalSolver
- Returns
pointer to internal hcod solver
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void setDisableWeightsComputation(const bool disable)
setDisableWeightsComputation
- Parameters
disable – if true the tasks weights are not taken into account (faster solver), dafault is false
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bool getDisableWeightsComputation()
getDisableWeightsComputation
- Returns
internal disable_weights_computation
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void setDamping(double damping)
setDamping to all levels
- Parameters
damping – > 0.
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void printSOT()
printSOT print some SOT infos
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HCOD(OpenSoT::AutoStack &stack_of_tasks, const double damping)