Wrapper for a robot based on pinocchio. More...

#include <tsid/formulations/inverse-dynamics-formulation-base.hpp>

Inheritance diagram for tsid::InverseDynamicsFormulationBase:

Collaboration diagram for tsid::InverseDynamicsFormulationBase:

Public Types
typedef math::Vector	Vector
typedef math::RefVector	RefVector
typedef math::ConstRefVector	ConstRefVector
typedef tasks::TaskMotion	TaskMotion
typedef tasks::TaskContactForce	TaskContactForce
typedef tasks::TaskActuation	TaskActuation
typedef tasks::TaskBase	TaskBase
typedef contacts::MeasuredForceBase	MeasuredForceBase
typedef contacts::ContactBase	ContactBase
typedef solvers::HQPData	HQPData
typedef solvers::HQPOutput	HQPOutput
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	InverseDynamicsFormulationBase (const std::string &name, RobotWrapper &robot, bool verbose=false)
virtual	~InverseDynamicsFormulationBase ()=default
virtual Data &	data ()=0
virtual unsigned int	nVar () const =0
virtual unsigned int	nEq () const =0
virtual unsigned int	nIn () const =0
virtual bool	addMotionTask (TaskMotion &task, double weight, unsigned int priorityLevel, double transition_duration=0.0)=0
virtual bool	addForceTask (TaskContactForce &task, double weight, unsigned int priorityLevel, double transition_duration=0.0)=0
virtual bool	addActuationTask (TaskActuation &task, double weight, unsigned int priorityLevel, double transition_duration=0.0)=0
virtual bool	updateTaskWeight (const std::string &task_name, double weight)=0
virtual bool	addRigidContact (ContactBase &contact, double force_regularization_weight, double motion_weight=1.0, unsigned int motion_priority_level=0)=0
	Add a rigid contact constraint to the model, introducing the associated reaction forces as problem variables.
virtual TSID_DEPRECATED bool	addRigidContact (ContactBase &contact)
virtual bool	updateRigidContactWeights (const std::string &contact_name, double force_regularization_weight, double motion_weight=-1.0)=0
	Update the weights associated to the specified contact.
virtual bool	addMeasuredForce (MeasuredForceBase &measuredForce)=0
virtual bool	removeTask (const std::string &taskName, double transition_duration=0.0)=0
virtual bool	removeRigidContact (const std::string &contactName, double transition_duration=0.0)=0
virtual bool	removeMeasuredForce (const std::string &measuredForceName)=0
virtual const HQPData &	computeProblemData (double time, ConstRefVector q, ConstRefVector v)=0
virtual const Vector &	getActuatorForces (const HQPOutput &sol)=0
virtual const Vector &	getAccelerations (const HQPOutput &sol)=0
virtual const Vector &	getContactForces (const HQPOutput &sol)=0
virtual bool	getContactForces (const std::string &name, const HQPOutput &sol, RefVector f)=0
virtual unsigned int	getTaskPriority (const std::string &name)=0

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::Data	Data

Protected Attributes
std::string	m_name
RobotWrapper	m_robot
bool	m_verbose

Detailed Description

Wrapper for a robot based on pinocchio.

Member Typedef Documentation

◆ ConstRefVector

typedef math::ConstRefVector tsid::InverseDynamicsFormulationBase::ConstRefVector

◆ ContactBase

typedef contacts::ContactBase tsid::InverseDynamicsFormulationBase::ContactBase

◆ HQPData

typedef solvers::HQPData tsid::InverseDynamicsFormulationBase::HQPData

◆ HQPOutput

typedef solvers::HQPOutput tsid::InverseDynamicsFormulationBase::HQPOutput

◆ MeasuredForceBase

typedef contacts::MeasuredForceBase tsid::InverseDynamicsFormulationBase::MeasuredForceBase

◆ RefVector

typedef math::RefVector tsid::InverseDynamicsFormulationBase::RefVector

◆ RobotWrapper

typedef robots::RobotWrapper tsid::InverseDynamicsFormulationBase::RobotWrapper

◆ TaskActuation

typedef tasks::TaskActuation tsid::InverseDynamicsFormulationBase::TaskActuation

◆ TaskBase

typedef tasks::TaskBase tsid::InverseDynamicsFormulationBase::TaskBase

◆ TaskContactForce

typedef tasks::TaskContactForce tsid::InverseDynamicsFormulationBase::TaskContactForce

◆ TaskMotion

typedef tasks::TaskMotion tsid::InverseDynamicsFormulationBase::TaskMotion

◆ Vector

typedef math::Vector tsid::InverseDynamicsFormulationBase::Vector

Constructor & Destructor Documentation

◆ InverseDynamicsFormulationBase()

tsid::InverseDynamicsFormulationBase::InverseDynamicsFormulationBase	(	const std::string &	name,
		RobotWrapper &	robot,
		bool	verbose = false )

◆ ~InverseDynamicsFormulationBase()

virtual tsid::InverseDynamicsFormulationBase::~InverseDynamicsFormulationBase ( )

virtualdefault

Member Function Documentation

◆ addActuationTask()

virtual bool tsid::InverseDynamicsFormulationBase::addActuationTask	(	TaskActuation &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration = 0.0 )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ addForceTask()

virtual bool tsid::InverseDynamicsFormulationBase::addForceTask	(	TaskContactForce &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration = 0.0 )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ addMeasuredForce()

virtual bool tsid::InverseDynamicsFormulationBase::addMeasuredForce ( MeasuredForceBase & measuredForce )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ addMotionTask()

virtual bool tsid::InverseDynamicsFormulationBase::addMotionTask	(	TaskMotion &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration = 0.0 )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ addRigidContact() [1/2]

bool tsid::InverseDynamicsFormulationBase::addRigidContact ( ContactBase & contact )

virtual

Reimplemented in tsid::InverseDynamicsFormulationAccForce.

◆ addRigidContact() [2/2]

virtual bool tsid::InverseDynamicsFormulationBase::addRigidContact	(	ContactBase &	contact,
		double	force_regularization_weight,
		double	motion_weight = 1.0,
		unsigned int	motion_priority_level = 0 )

pure virtual

Add a rigid contact constraint to the model, introducing the associated reaction forces as problem variables.

Parameters

contact	The contact constraint to add
force_regularization_weight	The weight of the force regularization task
motion_weight	The weight of the motion task (e.g., zero acceleration of contact points)
motion_priority_level	Priority level of the motion task

Returns: True if everything went fine, false otherwise

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ computeProblemData()

virtual const HQPData & tsid::InverseDynamicsFormulationBase::computeProblemData	(	double	time,
		ConstRefVector	q,
		ConstRefVector	v )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ data()

virtual Data & tsid::InverseDynamicsFormulationBase::data ( )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ getAccelerations()

virtual const Vector & tsid::InverseDynamicsFormulationBase::getAccelerations ( const HQPOutput & sol )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ getActuatorForces()

virtual const Vector & tsid::InverseDynamicsFormulationBase::getActuatorForces ( const HQPOutput & sol )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ getContactForces() [1/2]

virtual const Vector & tsid::InverseDynamicsFormulationBase::getContactForces ( const HQPOutput & sol )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ getContactForces() [2/2]

virtual bool tsid::InverseDynamicsFormulationBase::getContactForces	(	const std::string &	name,
		const HQPOutput &	sol,
		RefVector	f )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ getTaskPriority()

virtual unsigned int tsid::InverseDynamicsFormulationBase::getTaskPriority ( const std::string & name )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ nEq()

virtual unsigned int tsid::InverseDynamicsFormulationBase::nEq ( ) const

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ nIn()

virtual unsigned int tsid::InverseDynamicsFormulationBase::nIn ( ) const

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ nVar()

virtual unsigned int tsid::InverseDynamicsFormulationBase::nVar ( ) const

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ removeMeasuredForce()

virtual bool tsid::InverseDynamicsFormulationBase::removeMeasuredForce ( const std::string & measuredForceName )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ removeRigidContact()

virtual bool tsid::InverseDynamicsFormulationBase::removeRigidContact	(	const std::string &	contactName,
		double	transition_duration = 0.0 )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ removeTask()

virtual bool tsid::InverseDynamicsFormulationBase::removeTask	(	const std::string &	taskName,
		double	transition_duration = 0.0 )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ updateRigidContactWeights()

virtual bool tsid::InverseDynamicsFormulationBase::updateRigidContactWeights	(	const std::string &	contact_name,
		double	force_regularization_weight,
		double	motion_weight = -1.0 )

pure virtual

Update the weights associated to the specified contact.

Parameters

contact_name	Name of the contact to update
force_regularization_weight	Weight of the force regularization task, if negative it is not updated
motion_weight	Weight of the motion task, if negative it is not update

Returns: True if everything went fine, false otherwise

Implemented in tsid::InverseDynamicsFormulationAccForce.

◆ updateTaskWeight()

virtual bool tsid::InverseDynamicsFormulationBase::updateTaskWeight	(	const std::string &	task_name,
		double	weight )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

Member Data Documentation

◆ Data

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::Data tsid::InverseDynamicsFormulationBase::Data

◆ m_name

std::string tsid::InverseDynamicsFormulationBase::m_name

protected

◆ m_robot

RobotWrapper tsid::InverseDynamicsFormulationBase::m_robot

protected

◆ m_verbose

bool tsid::InverseDynamicsFormulationBase::m_verbose

protected

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

include/tsid/formulations/inverse-dynamics-formulation-base.hpp
src/formulations/inverse-dynamics-formulation-base.cpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstRefVector

◆ ContactBase

◆ HQPData

◆ HQPOutput

◆ MeasuredForceBase

◆ RefVector

◆ RobotWrapper

◆ TaskActuation

◆ TaskBase

◆ TaskContactForce

◆ TaskMotion

◆ Vector

Constructor & Destructor Documentation

◆ InverseDynamicsFormulationBase()

◆ ~InverseDynamicsFormulationBase()

Member Function Documentation

◆ addActuationTask()

◆ addForceTask()

◆ addMeasuredForce()

◆ addMotionTask()

◆ addRigidContact() [1/2]

◆ addRigidContact() [2/2]

◆ computeProblemData()

◆ data()

◆ getAccelerations()

◆ getActuatorForces()

◆ getContactForces() [1/2]

◆ getContactForces() [2/2]

◆ getTaskPriority()

◆ nEq()

◆ nIn()

◆ nVar()

◆ removeMeasuredForce()

◆ removeRigidContact()

◆ removeTask()

◆ updateRigidContactWeights()

◆ updateTaskWeight()

Member Data Documentation

◆ Data

◆ m_name

◆ m_robot

◆ m_verbose