#include <tsid/tasks/task-se3-equality.hpp>

Inheritance diagram for tsid::tasks::TaskSE3Equality:

Collaboration diagram for tsid::tasks::TaskSE3Equality:

Public Types
typedef trajectories::TrajectorySample	TrajectorySample
typedef math::Vector	Vector
typedef math::ConstraintEquality	ConstraintEquality
typedef pinocchio::Data	Data
typedef pinocchio::Data::Matrix6x	Matrix6x
typedef pinocchio::Motion	Motion
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
	TaskSE3Equality (const std::string &name, RobotWrapper &robot, const std::string &frameName)
int	dim () const override
	Return the dimension of the task. \info should be overloaded in the child class.
const ConstraintBase &	compute (const double t, ConstRefVector q, ConstRefVector v, Data &data) override
const ConstraintBase &	getConstraint () const override
void	setReference (TrajectorySample &ref)
void	setReference (const SE3 &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 Vector &	Kp () const
const Vector &	Kd () const
void	Kp (ConstRefVector Kp)
void	Kd (ConstRefVector Kp)
Index	frame_id () const
void	useLocalFrame (bool local_frame)
	Specifies if the jacobian and desired acceloration should be expressed in the local frame or the local world-oriented frame.
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
std::string	m_frame_name
Index	m_frame_id
Motion	m_p_error
Motion	m_v_error
Vector	m_p_error_vec
Vector	m_v_error_vec
Vector	m_p_error_masked_vec
Vector	m_v_error_masked_vec
Vector	m_p
Vector	m_v
Vector	m_p_ref
Vector	m_v_ref_vec
Motion	m_v_ref
Motion	m_a_ref
SE3	m_M_ref
SE3	m_wMl
Vector	m_Kp
Vector	m_Kd
Vector	m_a_des
Vector	m_a_des_masked
Motion	m_drift
Vector	m_drift_masked
Matrix6x	m_J
Matrix6x	m_J_rotated
ConstraintEquality	m_constraint
TrajectorySample	m_ref
bool	m_local_frame
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::TaskSE3Equality::ConstraintEquality

◆ Data

typedef pinocchio::Data tsid::tasks::TaskSE3Equality::Data

◆ Matrix6x

typedef pinocchio::Data::Matrix6x tsid::tasks::TaskSE3Equality::Matrix6x

◆ Motion

typedef pinocchio::Motion tsid::tasks::TaskSE3Equality::Motion

◆ SE3

typedef pinocchio::SE3 tsid::tasks::TaskSE3Equality::SE3

◆ TrajectorySample

typedef trajectories::TrajectorySample tsid::tasks::TaskSE3Equality::TrajectorySample

◆ Vector

typedef math::Vector tsid::tasks::TaskSE3Equality::Vector

Constructor & Destructor Documentation

◆ TaskSE3Equality()

tsid::tasks::TaskSE3Equality::TaskSE3Equality	(	const std::string &	name,
		RobotWrapper &	robot,
		const std::string &	frameName )

Member Function Documentation

◆ compute()

const ConstraintBase & tsid::tasks::TaskSE3Equality::compute	(	const double	t,
		ConstRefVector	q,
		ConstRefVector	v,
		Data &	data )

overridevirtual

Implements tsid::tasks::TaskBase.

◆ dim()

int tsid::tasks::TaskSE3Equality::dim ( ) const

overridevirtual

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

Implements tsid::tasks::TaskBase.

◆ frame_id()

Index tsid::tasks::TaskSE3Equality::frame_id ( ) const

◆ getAcceleration()

Vector tsid::tasks::TaskSE3Equality::getAcceleration ( ConstRefVector dv ) const

overridevirtual

Return the task acceleration (after applying the specified mask). The value is expressed in local frame is the local_frame flag is true, otherwise it is expressed in a local world-oriented frame.

Reimplemented from tsid::tasks::TaskMotion.

◆ getConstraint()

const ConstraintBase & tsid::tasks::TaskSE3Equality::getConstraint ( ) const

overridevirtual

Implements tsid::tasks::TaskBase.

◆ getDesiredAcceleration()

const Vector & tsid::tasks::TaskSE3Equality::getDesiredAcceleration ( ) const

overridevirtual

Return the desired task acceleration (after applying the specified mask). The value is expressed in local frame is the local_frame flag is true, otherwise it is expressed in a local world-oriented frame.

Reimplemented from tsid::tasks::TaskMotion.

◆ getReference()

const TrajectorySample & tsid::tasks::TaskSE3Equality::getReference ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ Kd() [1/2]

const Vector & tsid::tasks::TaskSE3Equality::Kd ( ) const

◆ Kd() [2/2]

void tsid::tasks::TaskSE3Equality::Kd ( ConstRefVector Kp )

◆ Kp() [1/2]

const Vector & tsid::tasks::TaskSE3Equality::Kp ( ) const

◆ Kp() [2/2]

void tsid::tasks::TaskSE3Equality::Kp ( ConstRefVector Kp )

◆ position()

const Vector & tsid::tasks::TaskSE3Equality::position ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ position_error()

const Vector & tsid::tasks::TaskSE3Equality::position_error ( ) const

overridevirtual

Return the position tracking error (after applying the specified mask). The error is expressed in local frame is the local_frame flag is true, otherwise it is expressed in a local world-oriented frame.

Reimplemented from tsid::tasks::TaskMotion.

◆ position_ref()

const Vector & tsid::tasks::TaskSE3Equality::position_ref ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ setMask()

void tsid::tasks::TaskSE3Equality::setMask ( math::ConstRefVector mask )

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ setReference() [1/2]

void tsid::tasks::TaskSE3Equality::setReference ( const SE3 & ref )

◆ setReference() [2/2]

void tsid::tasks::TaskSE3Equality::setReference ( TrajectorySample & ref )

◆ useLocalFrame()

void tsid::tasks::TaskSE3Equality::useLocalFrame ( bool local_frame )

Specifies if the jacobian and desired acceloration should be expressed in the local frame or the local world-oriented frame.

Parameters

local_frame If true, represent jacobian and acceloration in the local frame. If false, represent them in the local world-oriented frame.

◆ velocity()

const Vector & tsid::tasks::TaskSE3Equality::velocity ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ velocity_error()

const Vector & tsid::tasks::TaskSE3Equality::velocity_error ( ) const

overridevirtual

Return the velocity tracking error (after applying the specified mask). The error is expressed in local frame is the local_frame flag is true, otherwise it is expressed in a local world-oriented frame.

Reimplemented from tsid::tasks::TaskMotion.

◆ velocity_ref()

const Vector & tsid::tasks::TaskSE3Equality::velocity_ref ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Member Data Documentation

◆ Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskSE3Equality::Index

◆ m_a_des

Vector tsid::tasks::TaskSE3Equality::m_a_des

protected

◆ m_a_des_masked

Vector tsid::tasks::TaskSE3Equality::m_a_des_masked

protected

◆ m_a_ref

Motion tsid::tasks::TaskSE3Equality::m_a_ref

protected

◆ m_constraint

ConstraintEquality tsid::tasks::TaskSE3Equality::m_constraint

protected

◆ m_drift

Motion tsid::tasks::TaskSE3Equality::m_drift

protected

◆ m_drift_masked

Vector tsid::tasks::TaskSE3Equality::m_drift_masked

protected

◆ m_frame_id

Index tsid::tasks::TaskSE3Equality::m_frame_id

protected

◆ m_frame_name

std::string tsid::tasks::TaskSE3Equality::m_frame_name

protected

◆ m_J

Matrix6x tsid::tasks::TaskSE3Equality::m_J

protected

◆ m_J_rotated

Matrix6x tsid::tasks::TaskSE3Equality::m_J_rotated

protected

◆ m_Kd

Vector tsid::tasks::TaskSE3Equality::m_Kd

protected

◆ m_Kp

Vector tsid::tasks::TaskSE3Equality::m_Kp

protected

◆ m_local_frame

bool tsid::tasks::TaskSE3Equality::m_local_frame

protected

◆ m_M_ref

SE3 tsid::tasks::TaskSE3Equality::m_M_ref

protected

◆ m_p

Vector tsid::tasks::TaskSE3Equality::m_p

protected

◆ m_p_error

Motion tsid::tasks::TaskSE3Equality::m_p_error

protected

◆ m_p_error_masked_vec

Vector tsid::tasks::TaskSE3Equality::m_p_error_masked_vec

protected

◆ m_p_error_vec

Vector tsid::tasks::TaskSE3Equality::m_p_error_vec

protected

◆ m_p_ref

Vector tsid::tasks::TaskSE3Equality::m_p_ref

protected

◆ m_ref

TrajectorySample tsid::tasks::TaskSE3Equality::m_ref

protected

◆ m_v

Vector tsid::tasks::TaskSE3Equality::m_v

protected

◆ m_v_error

Motion tsid::tasks::TaskSE3Equality::m_v_error

protected

◆ m_v_error_masked_vec

Vector tsid::tasks::TaskSE3Equality::m_v_error_masked_vec

protected

◆ m_v_error_vec

Vector tsid::tasks::TaskSE3Equality::m_v_error_vec

protected

◆ m_v_ref

Motion tsid::tasks::TaskSE3Equality::m_v_ref

protected

◆ m_v_ref_vec

Vector tsid::tasks::TaskSE3Equality::m_v_ref_vec

protected

◆ m_wMl

SE3 tsid::tasks::TaskSE3Equality::m_wMl

protected

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

include/tsid/tasks/task-se3-equality.hpp
src/tasks/task-se3-equality.cpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Member Typedef Documentation

◆ ConstraintEquality

◆ Data

◆ Matrix6x

◆ Motion

◆ SE3

◆ TrajectorySample

◆ Vector

Constructor & Destructor Documentation

◆ TaskSE3Equality()

Member Function Documentation

◆ compute()

◆ dim()

◆ frame_id()

◆ getAcceleration()

◆ getConstraint()

◆ getDesiredAcceleration()

◆ getReference()

◆ Kd() [1/2]

◆ Kd() [2/2]

◆ Kp() [1/2]

◆ Kp() [2/2]

◆ position()

◆ position_error()

◆ position_ref()

◆ setMask()

◆ setReference() [1/2]

◆ setReference() [2/2]

◆ useLocalFrame()

◆ velocity()

◆ velocity_error()

◆ velocity_ref()

Member Data Documentation

◆ Index

◆ m_a_des

◆ m_a_des_masked

◆ m_a_ref

◆ m_constraint

◆ m_drift

◆ m_drift_masked

◆ m_frame_id

◆ m_frame_name

◆ m_J

◆ m_J_rotated

◆ m_Kd

◆ m_Kp

◆ m_local_frame

◆ m_M_ref

◆ m_p

◆ m_p_error

◆ m_p_error_masked_vec

◆ m_p_error_vec

◆ m_p_ref

◆ m_ref

◆ m_v

◆ m_v_error

◆ m_v_error_masked_vec

◆ m_v_error_vec

◆ m_v_ref

◆ m_v_ref_vec

◆ m_wMl