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

Inheritance diagram for tsid::tasks::TaskJointPosVelAccBounds:

Collaboration diagram for tsid::tasks::TaskJointPosVelAccBounds:

Public Types
typedef math::ConstraintBound	ConstraintBound
typedef math::ConstraintInequality	ConstraintInequality
typedef math::VectorXi	VectorXi
typedef pinocchio::Data	Data
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
	TaskJointPosVelAccBounds (const std::string &name, RobotWrapper &robot, double dt, bool verbose=true)
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	setTimeStep (double dt)
void	setPositionBounds (ConstRefVector lower, ConstRefVector upper)
void	setVelocityBounds (ConstRefVector upper)
void	setAccelerationBounds (ConstRefVector upper)
const Vector &	getAccelerationBounds () const
const Vector &	getVelocityBounds () const
const Vector &	getPositionLowerBounds () const
const Vector &	getPositionUpperBounds () const
void	setVerbose (bool verbose)
void	setImposeBounds (bool impose_position_bounds, bool impose_velocity_bounds, bool impose_viability_bounds, bool impose_acceleration_bounds)
void	isStateViable (ConstRefVector q, ConstRefVector dq, bool verbose=true)
void	computeAccLimitsFromPosLimits (ConstRefVector q, ConstRefVector dq, bool verbose=true)
void	computeAccLimitsFromViability (ConstRefVector q, ConstRefVector dq, bool verbose=true)
void	computeAccLimits (ConstRefVector q, ConstRefVector dq, bool verbose=true)
TSID_DEPRECATED const Vector &	mask () const
TSID_DEPRECATED void	mask (const Vector &mask)
virtual void	setMask (math::ConstRefVector mask) override
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 Vector	getAcceleration (ConstRefVector dv) const
virtual const Vector &	position_error () const
virtual const Vector &	velocity_error () const
virtual const Vector &	position () const
virtual const Vector &	velocity () const
virtual const Vector &	position_ref () const
virtual const Vector &	velocity_ref () const
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::Vector	Vector
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
ConstraintInequality	m_constraint
double	m_dt
bool	m_verbose
int	m_nv
int	m_na
Vector	m_mask
VectorXi	m_activeAxes
Vector	m_qa
Vector	m_dqa
double	m_eps
Vector	m_qMin
Vector	m_qMax
Vector	m_dqMax
Vector	m_ddqMax
Vector	m_dqMinViab
Vector	m_dqMaxViab
Vector	m_ddqLBPos
Vector	m_ddqUBPos
Vector	m_ddqLBVia
Vector	m_ddqUBVia
Vector	m_ddqLBVel
Vector	m_ddqUBVel
Vector	m_ddqLBAcc
Vector	m_ddqUBAcc
Vector	m_ddqLB
Vector	m_ddqUB
bool	m_impose_position_bounds
bool	m_impose_velocity_bounds
bool	m_impose_viability_bounds
bool	m_impose_acceleration_bounds
Vector	m_viabViol
double	m_two_dt_sq
Vector	m_ddqMax_q3
Vector	m_ddqMin_q3
Vector	m_ddqMax_q2
Vector	m_ddqMin_q2
Vector	m_minus_dq_over_dt
double	m_dt_square
Vector	m_dt_dq
Vector	m_dt_two_dq
Vector	m_two_ddqMax
Vector	m_dt_ddqMax_dt
Vector	m_dq_square
Vector	m_q_plus_dt_dq
double	m_two_a
Vector	m_b_1
Vector	m_b_2
Vector	m_ddq_1
Vector	m_ddq_2
Vector	m_c_1
Vector	m_delta_1
Vector	m_c_2
Vector	m_delta_2
Vector	m_ub
Vector	m_lb
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

◆ ConstraintBound

typedef math::ConstraintBound tsid::tasks::TaskJointPosVelAccBounds::ConstraintBound

◆ ConstraintInequality

typedef math::ConstraintInequality tsid::tasks::TaskJointPosVelAccBounds::ConstraintInequality

◆ Data

typedef pinocchio::Data tsid::tasks::TaskJointPosVelAccBounds::Data

◆ VectorXi

typedef math::VectorXi tsid::tasks::TaskJointPosVelAccBounds::VectorXi

Constructor & Destructor Documentation

◆ TaskJointPosVelAccBounds()

tsid::tasks::TaskJointPosVelAccBounds::TaskJointPosVelAccBounds	(	const std::string &	name,
		RobotWrapper &	robot,
		double	dt,
		bool	verbose = true )

Member Function Documentation

◆ compute()

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

overridevirtual

Implements tsid::tasks::TaskBase.

◆ computeAccLimits()

void tsid::tasks::TaskJointPosVelAccBounds::computeAccLimits	(	ConstRefVector	q,
		ConstRefVector	dq,
		bool	verbose = true )

Given the current position and velocity, the bounds of position, velocity and acceleration and the control time step, compute the bounds of the acceleration such that all the bounds are respected at the next time step and can be respected in the future. ddqMax is the absolute maximum acceleration.

◆ computeAccLimitsFromPosLimits()

void tsid::tasks::TaskJointPosVelAccBounds::computeAccLimitsFromPosLimits	(	ConstRefVector	q,
		ConstRefVector	dq,
		bool	verbose = true )

Compute acceleration limits imposed by position bounds. Fills in m_ddqLBPos and m_ddqUBPos

◆ computeAccLimitsFromViability()

void tsid::tasks::TaskJointPosVelAccBounds::computeAccLimitsFromViability	(	ConstRefVector	q,
		ConstRefVector	dq,
		bool	verbose = true )

Compute acceleration limits imposed by viability. ddqMax is the maximum acceleration that will be necessary to stop the joint before hitting the position limits.

-sqrt( 2*ddqMax*(q-qMin) ) < dq[t+1] < sqrt( 2*ddqMax*(qMax-q) ) ddqMin[2] = (-sqrt(max(0.0, 2*MAX_ACC*(q[i]+DT*dq[i]-qMin))) - dq[i])/DT; ddqMax[2] = (sqrt(max(0.0, 2*MAX_ACC*(qMax-q[i]-DT*dq[i]))) - dq[i])/DT;

Fills in m_ddqLBVia and m_ddqUBVia

◆ dim()

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

overridevirtual

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

Implements tsid::tasks::TaskBase.

◆ getAccelerationBounds()

const Vector & tsid::tasks::TaskJointPosVelAccBounds::getAccelerationBounds ( ) const

◆ getConstraint()

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

overridevirtual

Implements tsid::tasks::TaskBase.

◆ getPositionLowerBounds()

const Vector & tsid::tasks::TaskJointPosVelAccBounds::getPositionLowerBounds ( ) const

◆ getPositionUpperBounds()

const Vector & tsid::tasks::TaskJointPosVelAccBounds::getPositionUpperBounds ( ) const

◆ getVelocityBounds()

const Vector & tsid::tasks::TaskJointPosVelAccBounds::getVelocityBounds ( ) const

◆ isStateViable()

void tsid::tasks::TaskJointPosVelAccBounds::isStateViable	(	ConstRefVector	q,
		ConstRefVector	dq,
		bool	verbose = true )

Check if the state is viable, otherwise it returns a measure of the violation of the violated inequality. Fills in m_viabViol , if the state of joint i is viable m_viabViol[i] = 0

◆ mask() [1/2]

const Vector & tsid::tasks::TaskJointPosVelAccBounds::mask ( ) const

◆ mask() [2/2]

void tsid::tasks::TaskJointPosVelAccBounds::mask ( const Vector & mask )

◆ setAccelerationBounds()

void tsid::tasks::TaskJointPosVelAccBounds::setAccelerationBounds ( ConstRefVector upper )

◆ setImposeBounds()

void tsid::tasks::TaskJointPosVelAccBounds::setImposeBounds	(	bool	impose_position_bounds,
		bool	impose_velocity_bounds,
		bool	impose_viability_bounds,
		bool	impose_acceleration_bounds )

◆ setMask()

void tsid::tasks::TaskJointPosVelAccBounds::setMask ( math::ConstRefVector mask )

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ setPositionBounds()

void tsid::tasks::TaskJointPosVelAccBounds::setPositionBounds	(	ConstRefVector	lower,
		ConstRefVector	upper )

◆ setTimeStep()

void tsid::tasks::TaskJointPosVelAccBounds::setTimeStep ( double dt )

◆ setVelocityBounds()

void tsid::tasks::TaskJointPosVelAccBounds::setVelocityBounds ( ConstRefVector upper )

◆ setVerbose()

void tsid::tasks::TaskJointPosVelAccBounds::setVerbose ( bool verbose )

Member Data Documentation

◆ m_activeAxes

VectorXi tsid::tasks::TaskJointPosVelAccBounds::m_activeAxes

protected

◆ m_b_1

Vector tsid::tasks::TaskJointPosVelAccBounds::m_b_1

protected

◆ m_b_2

Vector tsid::tasks::TaskJointPosVelAccBounds::m_b_2

protected

◆ m_c_1

Vector tsid::tasks::TaskJointPosVelAccBounds::m_c_1

protected

◆ m_c_2

Vector tsid::tasks::TaskJointPosVelAccBounds::m_c_2

protected

◆ m_constraint

ConstraintInequality tsid::tasks::TaskJointPosVelAccBounds::m_constraint

protected

◆ m_ddq_1

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddq_1

protected

◆ m_ddq_2

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddq_2

protected

◆ m_ddqLB

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqLB

protected

◆ m_ddqLBAcc

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqLBAcc

protected

◆ m_ddqLBPos

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqLBPos

protected

◆ m_ddqLBVel

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqLBVel

protected

◆ m_ddqLBVia

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqLBVia

protected

◆ m_ddqMax

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqMax

protected

◆ m_ddqMax_q2

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqMax_q2

protected

◆ m_ddqMax_q3

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqMax_q3

protected

◆ m_ddqMin_q2

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqMin_q2

protected

◆ m_ddqMin_q3

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqMin_q3

protected

◆ m_ddqUB

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqUB

protected

◆ m_ddqUBAcc

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqUBAcc

protected

◆ m_ddqUBPos

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqUBPos

protected

◆ m_ddqUBVel

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqUBVel

protected

◆ m_ddqUBVia

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ddqUBVia

protected

◆ m_delta_1

Vector tsid::tasks::TaskJointPosVelAccBounds::m_delta_1

protected

◆ m_delta_2

Vector tsid::tasks::TaskJointPosVelAccBounds::m_delta_2

protected

◆ m_dq_square

Vector tsid::tasks::TaskJointPosVelAccBounds::m_dq_square

protected

◆ m_dqa

Vector tsid::tasks::TaskJointPosVelAccBounds::m_dqa

protected

◆ m_dqMax

Vector tsid::tasks::TaskJointPosVelAccBounds::m_dqMax

protected

◆ m_dqMaxViab

Vector tsid::tasks::TaskJointPosVelAccBounds::m_dqMaxViab

protected

◆ m_dqMinViab

Vector tsid::tasks::TaskJointPosVelAccBounds::m_dqMinViab

protected

◆ m_dt

double tsid::tasks::TaskJointPosVelAccBounds::m_dt

protected

◆ m_dt_ddqMax_dt

Vector tsid::tasks::TaskJointPosVelAccBounds::m_dt_ddqMax_dt

protected

◆ m_dt_dq

Vector tsid::tasks::TaskJointPosVelAccBounds::m_dt_dq

protected

◆ m_dt_square

double tsid::tasks::TaskJointPosVelAccBounds::m_dt_square

protected

◆ m_dt_two_dq

Vector tsid::tasks::TaskJointPosVelAccBounds::m_dt_two_dq

protected

◆ m_eps

double tsid::tasks::TaskJointPosVelAccBounds::m_eps

protected

◆ m_impose_acceleration_bounds

bool tsid::tasks::TaskJointPosVelAccBounds::m_impose_acceleration_bounds

protected

◆ m_impose_position_bounds

bool tsid::tasks::TaskJointPosVelAccBounds::m_impose_position_bounds

protected

◆ m_impose_velocity_bounds

bool tsid::tasks::TaskJointPosVelAccBounds::m_impose_velocity_bounds

protected

◆ m_impose_viability_bounds

bool tsid::tasks::TaskJointPosVelAccBounds::m_impose_viability_bounds

protected

◆ m_lb

Vector tsid::tasks::TaskJointPosVelAccBounds::m_lb

protected

◆ m_mask

Vector tsid::tasks::TaskJointPosVelAccBounds::m_mask

protected

◆ m_minus_dq_over_dt

Vector tsid::tasks::TaskJointPosVelAccBounds::m_minus_dq_over_dt

protected

◆ m_na

int tsid::tasks::TaskJointPosVelAccBounds::m_na

protected

◆ m_nv

int tsid::tasks::TaskJointPosVelAccBounds::m_nv

protected

◆ m_q_plus_dt_dq

Vector tsid::tasks::TaskJointPosVelAccBounds::m_q_plus_dt_dq

protected

◆ m_qa

Vector tsid::tasks::TaskJointPosVelAccBounds::m_qa

protected

◆ m_qMax

Vector tsid::tasks::TaskJointPosVelAccBounds::m_qMax

protected

◆ m_qMin

Vector tsid::tasks::TaskJointPosVelAccBounds::m_qMin

protected

◆ m_two_a

double tsid::tasks::TaskJointPosVelAccBounds::m_two_a

protected

◆ m_two_ddqMax

Vector tsid::tasks::TaskJointPosVelAccBounds::m_two_ddqMax

protected

◆ m_two_dt_sq

double tsid::tasks::TaskJointPosVelAccBounds::m_two_dt_sq

protected

◆ m_ub

Vector tsid::tasks::TaskJointPosVelAccBounds::m_ub

protected

◆ m_verbose

bool tsid::tasks::TaskJointPosVelAccBounds::m_verbose

protected

◆ m_viabViol

Vector tsid::tasks::TaskJointPosVelAccBounds::m_viabViol

protected

◆ Vector

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector tsid::tasks::TaskJointPosVelAccBounds::Vector

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

include/tsid/tasks/task-joint-posVelAcc-bounds.hpp
src/tasks/task-joint-posVelAcc-bounds.cpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Member Typedef Documentation

◆ ConstraintBound

◆ ConstraintInequality

◆ Data

◆ VectorXi

Constructor & Destructor Documentation

◆ TaskJointPosVelAccBounds()

Member Function Documentation

◆ compute()

◆ computeAccLimits()

◆ computeAccLimitsFromPosLimits()

◆ computeAccLimitsFromViability()

◆ dim()

◆ getAccelerationBounds()

◆ getConstraint()

◆ getPositionLowerBounds()

◆ getPositionUpperBounds()

◆ getVelocityBounds()

◆ isStateViable()

◆ mask() [1/2]

◆ mask() [2/2]

◆ setAccelerationBounds()

◆ setImposeBounds()

◆ setMask()

◆ setPositionBounds()

◆ setTimeStep()

◆ setVelocityBounds()

◆ setVerbose()

Member Data Documentation

◆ m_activeAxes

◆ m_b_1

◆ m_b_2

◆ m_c_1

◆ m_c_2

◆ m_constraint

◆ m_ddq_1

◆ m_ddq_2

◆ m_ddqLB

◆ m_ddqLBAcc

◆ m_ddqLBPos

◆ m_ddqLBVel

◆ m_ddqLBVia

◆ m_ddqMax

◆ m_ddqMax_q2

◆ m_ddqMax_q3

◆ m_ddqMin_q2

◆ m_ddqMin_q3

◆ m_ddqUB

◆ m_ddqUBAcc

◆ m_ddqUBPos

◆ m_ddqUBVel

◆ m_ddqUBVia

◆ m_delta_1

◆ m_delta_2

◆ m_dq_square

◆ m_dqa

◆ m_dqMax

◆ m_dqMaxViab

◆ m_dqMinViab

◆ m_dt

◆ m_dt_ddqMax_dt

◆ m_dt_dq

◆ m_dt_square

◆ m_dt_two_dq

◆ m_eps

◆ m_impose_acceleration_bounds

◆ m_impose_position_bounds

◆ m_impose_velocity_bounds

◆ m_impose_viability_bounds

◆ m_lb

◆ m_mask

◆ m_minus_dq_over_dt

◆ m_na

◆ m_nv

◆ m_q_plus_dt_dq

◆ m_qa