tsid 1.9.0
Efficient Task Space Inverse Dynamics for Multi-body Systems based on Pinocchio
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tsid::tasks::TaskComEquality Class Reference

#include <tsid/tasks/task-com-equality.hpp>

Inheritance diagram for tsid::tasks::TaskComEquality:
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Collaboration diagram for tsid::tasks::TaskComEquality:
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Public Types

typedef trajectories::TrajectorySample TrajectorySample
typedef math::Vector Vector
typedef math::Vector3 Vector3
typedef math::ConstraintEquality ConstraintEquality
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

 TaskComEquality (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 setReference (const TrajectorySample &ref)
const TrajectorySample & getReference () const override
const Vector & getDesiredAcceleration () const override
Vector getAcceleration (ConstRefVector dv) const override
virtual void setMask (math::ConstRefVector mask) override
const Vector & position_error () const override
const Vector & velocity_error () const override
const Vector & position () const override
const Vector & velocity () const override
const Vector & position_ref () const override
const Vector & velocity_ref () const override
const Vector3 & Kp ()
const Vector3 & Kd ()
void Kp (ConstRefVector Kp)
void Kd (ConstRefVector Kp)
Public Member Functions inherited from tsid::tasks::TaskMotion
 TaskMotion (const std::string &name, RobotWrapper &robot)
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

Vector3 m_Kp
Vector3 m_Kd
Vector3 m_p_error
Vector3 m_v_error
Vector m_p_error_masked_vec
Vector m_v_error_masked_vec
Vector3 m_a_des
Vector m_a_des_vec
Vector m_a_des_masked
Vector3 m_drift
Vector m_drift_masked
Vector m_p_com
Vector m_v_com
Vector m_p_error_vec
Vector m_v_error_vec
TrajectorySample m_ref
ConstraintEquality m_constraint
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

◆ ConstraintEquality

typedef math::ConstraintEquality tsid::tasks::TaskComEquality::ConstraintEquality

◆ TrajectorySample

typedef trajectories::TrajectorySample tsid::tasks::TaskComEquality::TrajectorySample

◆ Vector

typedef math::Vector tsid::tasks::TaskComEquality::Vector

◆ Vector3

typedef math::Vector3 tsid::tasks::TaskComEquality::Vector3

Constructor & Destructor Documentation

◆ TaskComEquality()

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

Member Function Documentation

◆ compute()

const ConstraintBase & tsid::tasks::TaskComEquality::compute(doublet,
ConstRefVectorq,
ConstRefVectorv,
Data &data )
overridevirtual

Implements tsid::tasks::TaskBase.

◆ dim()

int tsid::tasks::TaskComEquality::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::TaskComEquality::getAcceleration(ConstRefVectordv)const
overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ getConstraint()

const ConstraintBase & tsid::tasks::TaskComEquality::getConstraint()const
overridevirtual

Implements tsid::tasks::TaskBase.

◆ getDesiredAcceleration()

const Vector & tsid::tasks::TaskComEquality::getDesiredAcceleration()const
overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ getReference()

const TrajectorySample & tsid::tasks::TaskComEquality::getReference()const
overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ Kd() [1/2]

const Vector3 & tsid::tasks::TaskComEquality::Kd()

◆ Kd() [2/2]

void tsid::tasks::TaskComEquality::Kd(ConstRefVectorKp)

◆ Kp() [1/2]

const Vector3 & tsid::tasks::TaskComEquality::Kp()

◆ Kp() [2/2]

void tsid::tasks::TaskComEquality::Kp(ConstRefVectorKp)

◆ position()

const Vector & tsid::tasks::TaskComEquality::position()const
overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ position_error()

const Vector & tsid::tasks::TaskComEquality::position_error()const
overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ position_ref()

const Vector & tsid::tasks::TaskComEquality::position_ref()const
overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ setMask()

void tsid::tasks::TaskComEquality::setMask(math::ConstRefVectormask)
overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ setReference()

void tsid::tasks::TaskComEquality::setReference(const TrajectorySample &ref)

◆ velocity()

const Vector & tsid::tasks::TaskComEquality::velocity()const
overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ velocity_error()

const Vector & tsid::tasks::TaskComEquality::velocity_error()const
overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ velocity_ref()

const Vector & tsid::tasks::TaskComEquality::velocity_ref()const
overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Member Data Documentation

◆ Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskComEquality::Index

◆ m_a_des

Vector3 tsid::tasks::TaskComEquality::m_a_des
protected

◆ m_a_des_masked

Vector tsid::tasks::TaskComEquality::m_a_des_masked
protected

◆ m_a_des_vec

Vector tsid::tasks::TaskComEquality::m_a_des_vec
protected

◆ m_constraint

ConstraintEquality tsid::tasks::TaskComEquality::m_constraint
protected

◆ m_drift

Vector3 tsid::tasks::TaskComEquality::m_drift
protected

◆ m_drift_masked

Vector tsid::tasks::TaskComEquality::m_drift_masked
protected

◆ m_Kd

Vector3 tsid::tasks::TaskComEquality::m_Kd
protected

◆ m_Kp

Vector3 tsid::tasks::TaskComEquality::m_Kp
protected

◆ m_p_com

Vector tsid::tasks::TaskComEquality::m_p_com
protected

◆ m_p_error

Vector3 tsid::tasks::TaskComEquality::m_p_error
protected

◆ m_p_error_masked_vec

Vector tsid::tasks::TaskComEquality::m_p_error_masked_vec
protected

◆ m_p_error_vec

Vector tsid::tasks::TaskComEquality::m_p_error_vec
protected

◆ m_ref

TrajectorySample tsid::tasks::TaskComEquality::m_ref
protected

◆ m_v_com

Vector tsid::tasks::TaskComEquality::m_v_com
protected

◆ m_v_error

Vector3 tsid::tasks::TaskComEquality::m_v_error
protected

◆ m_v_error_masked_vec

Vector tsid::tasks::TaskComEquality::m_v_error_masked_vec
protected

◆ m_v_error_vec

Vector tsid::tasks::TaskComEquality::m_v_error_vec
protected
The documentation for this class was generated from the following files: