tsid::tasks::TaskActuationBounds Class Reference

#include <tsid/tasks/task-actuation-bounds.hpp>

Inheritance diagram for tsid::tasks::TaskActuationBounds:

Collaboration diagram for tsid::tasks::TaskActuationBounds:

Public Types
typedef trajectories::TrajectorySample	TrajectorySample
typedef math::Vector	Vector
typedef math::VectorXi	VectorXi
typedef math::ConstraintInequality	ConstraintInequality
typedef pinocchio::Data	Data
Public Types inherited from tsid::tasks::TaskBase
typedef math::ConstRefVector	ConstRefVector
typedef pinocchio::Data	Data
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	TaskActuationBounds (const std::string &name, RobotWrapper &robot)
int	dim () const override
	Return the dimension of the task. \info should be overloaded in the child class.
const ConstraintBase &	compute (double t, ConstRefVector q, ConstRefVector v, Data &data) override
const ConstraintBase &	getConstraint () const override
void	setBounds (ConstRefVector lower, ConstRefVector upper)
const Vector &	getLowerBounds () const
const Vector &	getUpperBounds () const
const Vector &	mask () const
void	mask (const Vector &mask)
Public Member Functions inherited from tsid::tasks::TaskActuation
	TaskActuation (const std::string &name, RobotWrapper &robot)
Public Member Functions inherited from tsid::tasks::TaskBase
	TaskBase (const std::string &name, RobotWrapper &robot)
virtual	~TaskBase ()=default
const std::string &	name () const
void	name (const std::string &name)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index	Index
Public Attributes inherited from tsid::tasks::TaskBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase	ConstraintBase

Protected Attributes
Vector	m_mask
VectorXi	m_activeAxes
ConstraintInequality	m_constraint
Protected Attributes inherited from tsid::tasks::TaskBase
std::string	m_name
RobotWrapper &	m_robot
	Reference on the robot model.

Member Typedef Documentation

ConstraintInequality

typedef math::ConstraintInequality tsid::tasks::TaskActuationBounds::ConstraintInequality

Data

typedef pinocchio::Data tsid::tasks::TaskActuationBounds::Data

TrajectorySample

typedef trajectories::TrajectorySample tsid::tasks::TaskActuationBounds::TrajectorySample

Vector

typedef math::Vector tsid::tasks::TaskActuationBounds::Vector

VectorXi

typedef math::VectorXi tsid::tasks::TaskActuationBounds::VectorXi

Constructor & Destructor Documentation

TaskActuationBounds()

tsid::tasks::TaskActuationBounds::TaskActuationBounds	(	const std::string &	name,
		RobotWrapper &	robot )

Member Function Documentation

compute()

const ConstraintBase & tsid::tasks::TaskActuationBounds::compute ( double t, ConstRefVector q, ConstRefVector v, Data & data )

overridevirtual

Implements tsid::tasks::TaskBase.

dim()

int tsid::tasks::TaskActuationBounds::dim ( ) const

overridevirtual

Return the dimension of the task. \info should be overloaded in the child class.

Implements tsid::tasks::TaskBase.

getConstraint()

const ConstraintBase & tsid::tasks::TaskActuationBounds::getConstraint ( ) const

overridevirtual

Implements tsid::tasks::TaskBase.

getLowerBounds()

const Vector & tsid::tasks::TaskActuationBounds::getLowerBounds

(

)

const

getUpperBounds()

const Vector & tsid::tasks::TaskActuationBounds::getUpperBounds

(

)

const

mask() [1/2]

const Vector & tsid::tasks::TaskActuationBounds::mask

(

)

const

mask() [2/2]

void tsid::tasks::TaskActuationBounds::mask

(

const Vector &

mask

)

setBounds()

void tsid::tasks::TaskActuationBounds::setBounds	(	ConstRefVector	lower,
		ConstRefVector	upper )

Member Data Documentation

Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskActuationBounds::Index

m_activeAxes

VectorXi tsid::tasks::TaskActuationBounds::m_activeAxes

protected

m_constraint

ConstraintInequality tsid::tasks::TaskActuationBounds::m_constraint

protected

m_mask

Vector tsid::tasks::TaskActuationBounds::m_mask

protected

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

• include/tsid/tasks/task-actuation-bounds.hpp
• src/tasks/task-actuation-bounds.cpp