tsid::tasks::TaskCapturePointInequality Class Reference

#include <tsid/tasks/task-capture-point-inequality.hpp>

Inheritance diagram for tsid::tasks::TaskCapturePointInequality:

Collaboration diagram for tsid::tasks::TaskCapturePointInequality:

Public Types
typedef math::Vector	Vector
typedef math::Matrix	Matrix
typedef math::Vector3	Vector3
typedef math::ConstraintInequality	ConstraintInequality
typedef pinocchio::Data	Data
typedef pinocchio::SE3	SE3
Public Types inherited from tsid::tasks::TaskMotion
typedef trajectories::TrajectorySample	TrajectorySample
Public Types inherited from tsid::tasks::TaskBase
typedef math::ConstRefVector	ConstRefVector
typedef pinocchio::Data	Data
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	TaskCapturePointInequality (const std::string &name, RobotWrapper &robot, const double timeStep)
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
Vector	getAcceleration (ConstRefVector dv) const override
const Vector &	position () const override
void	setSupportLimitsXAxis (const double x_min, const double x_max)
void	setSupportLimitsYAxis (const double y_min, const double y_max)
void	setSafetyMargin (const double x_margin, const double y_margin)
Public Member Functions inherited from tsid::tasks::TaskMotion
	TaskMotion (const std::string &name, RobotWrapper &robot)
virtual const TrajectorySample &	getReference () const
virtual const Vector &	getDesiredAcceleration () const
virtual const Vector &	position_error () const
virtual const Vector &	velocity_error () const
virtual const Vector &	velocity () const
virtual const Vector &	position_ref () const
virtual const Vector &	velocity_ref () const
virtual void	setMask (math::ConstRefVector mask)
virtual const Vector &	getMask () const
virtual bool	hasMask ()
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::TaskMotion
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector	Vector
Public Attributes inherited from tsid::tasks::TaskBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase	ConstraintBase

Protected Attributes
Vector	m_drift_vec
Vector3	m_drift
Vector	m_p_com
Vector	m_v_com
Vector	m_rp_min
Vector	m_rp_max
ConstraintInequality	m_constraint
Vector	m_safety_margin
Vector	m_support_limits_x
Vector	m_support_limits_y
Eigen::Index	m_nv
double	m_delta_t
double	m_g
double	m_w
double	m_ka
int	m_dim
Vector	b_lower
Vector	b_upper
Protected Attributes inherited from tsid::tasks::TaskMotion
Vector	m_mask
Vector	m_dummy
trajectories::TrajectorySample	TrajectorySample_dummy
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::TaskCapturePointInequality::ConstraintInequality

Data

typedef pinocchio::Data tsid::tasks::TaskCapturePointInequality::Data

Matrix

typedef math::Matrix tsid::tasks::TaskCapturePointInequality::Matrix

SE3

typedef pinocchio::SE3 tsid::tasks::TaskCapturePointInequality::SE3

Vector

typedef math::Vector tsid::tasks::TaskCapturePointInequality::Vector

Vector3

typedef math::Vector3 tsid::tasks::TaskCapturePointInequality::Vector3

Constructor & Destructor Documentation

TaskCapturePointInequality()

tsid::tasks::TaskCapturePointInequality::TaskCapturePointInequality	(	const std::string &	name,
		RobotWrapper &	robot,
		const double	timeStep )

Member Function Documentation

compute()

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

overridevirtual

Implements tsid::tasks::TaskBase.

dim()

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

overridevirtual

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

Implements tsid::tasks::TaskBase.

getAcceleration()

Vector tsid::tasks::TaskCapturePointInequality::getAcceleration ( ConstRefVector dv ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

getConstraint()

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

overridevirtual

Implements tsid::tasks::TaskBase.

position()

const Vector & tsid::tasks::TaskCapturePointInequality::position ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

setSafetyMargin()

void tsid::tasks::TaskCapturePointInequality::setSafetyMargin	(	const double	x_margin,
		const double	y_margin )

setSupportLimitsXAxis()

void tsid::tasks::TaskCapturePointInequality::setSupportLimitsXAxis	(	const double	x_min,
		const double	x_max )

setSupportLimitsYAxis()

void tsid::tasks::TaskCapturePointInequality::setSupportLimitsYAxis	(	const double	y_min,
		const double	y_max )

Member Data Documentation

b_lower

Vector tsid::tasks::TaskCapturePointInequality::b_lower

protected

b_upper

Vector tsid::tasks::TaskCapturePointInequality::b_upper

protected

Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskCapturePointInequality::Index

m_constraint

ConstraintInequality tsid::tasks::TaskCapturePointInequality::m_constraint

protected

m_delta_t

double tsid::tasks::TaskCapturePointInequality::m_delta_t

protected

m_dim

int tsid::tasks::TaskCapturePointInequality::m_dim

protected

m_drift

Vector3 tsid::tasks::TaskCapturePointInequality::m_drift

protected

m_drift_vec

Vector tsid::tasks::TaskCapturePointInequality::m_drift_vec

protected

m_g

double tsid::tasks::TaskCapturePointInequality::m_g

protected

m_ka

double tsid::tasks::TaskCapturePointInequality::m_ka

protected

m_nv

Eigen::Index tsid::tasks::TaskCapturePointInequality::m_nv

protected

m_p_com

Vector tsid::tasks::TaskCapturePointInequality::m_p_com

protected

m_rp_max

Vector tsid::tasks::TaskCapturePointInequality::m_rp_max

protected

m_rp_min

Vector tsid::tasks::TaskCapturePointInequality::m_rp_min

protected

m_safety_margin

Vector tsid::tasks::TaskCapturePointInequality::m_safety_margin

protected

m_support_limits_x

Vector tsid::tasks::TaskCapturePointInequality::m_support_limits_x

protected

m_support_limits_y

Vector tsid::tasks::TaskCapturePointInequality::m_support_limits_y

protected

m_v_com

Vector tsid::tasks::TaskCapturePointInequality::m_v_com

protected

m_w

double tsid::tasks::TaskCapturePointInequality::m_w

protected

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

• include/tsid/tasks/task-capture-point-inequality.hpp
• src/tasks/task-capture-point-inequality.cpp