tsid 1.9.0
Efficient Task Space Inverse Dynamics for Multi-body Systems based on Pinocchio
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tsid::python::InvDynPythonVisitor< T > Struct Template Reference

#include <tsid/bindings/python/formulations/formulation.hpp>

Inheritance diagram for tsid::python::InvDynPythonVisitor< T >:
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Collaboration diagram for tsid::python::InvDynPythonVisitor< T >:
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Public Member Functions

template<class PyClass>
void visit (PyClass &cl) const

Static Public Member Functions

static pinocchio::Data data (T &self)
static bool addMotionTask_SE3 (T &self, tasks::TaskSE3Equality &task, double weight, unsigned int priorityLevel, double transition_duration)
static bool addMotionTask_COM (T &self, tasks::TaskComEquality &task, double weight, unsigned int priorityLevel, double transition_duration)
static bool addMotionTask_Joint (T &self, tasks::TaskJointPosture &task, double weight, unsigned int priorityLevel, double transition_duration)
static bool addMotionTask_JointBounds (T &self, tasks::TaskJointBounds &task, double weight, unsigned int priorityLevel, double transition_duration)
static bool addMotionTask_JointPosVelAccBounds (T &self, tasks::TaskJointPosVelAccBounds &task, double weight, unsigned int priorityLevel, double transition_duration)
static bool addMotionTask_AM (T &self, tasks::TaskAMEquality &task, double weight, unsigned int priorityLevel, double transition_duration)
static bool addMotionTask_TwoFramesEquality (T &self, tasks::TaskTwoFramesEquality &task, double weight, unsigned int priorityLevel, double transition_duration)
static bool addForceTask_COP (T &self, tasks::TaskCopEquality &task, double weight, unsigned int priorityLevel, double transition_duration)
static bool addActuationTask_Bounds (T &self, tasks::TaskActuationBounds &task, double weight, unsigned int priorityLevel, double transition_duration)
static bool updateTaskWeight (T &self, const std::string &task_name, double weight)
static bool updateRigidContactWeights (T &self, const std::string &contact_name, double force_regularization_weight)
static bool updateRigidContactWeightsWithMotionWeight (T &self, const std::string &contact_name, double force_regularization_weight, double motion_weight)
static bool addRigidContact6dDeprecated (T &self, contacts::Contact6d &contact)
static bool addRigidContact6d (T &self, contacts::Contact6d &contact, double force_regularization_weight)
static bool addRigidContact6dWithPriorityLevel (T &self, contacts::Contact6d &contact, double force_regularization_weight, double motion_weight, const bool priority_level)
static bool addRigidContactPoint (T &self, contacts::ContactPoint &contact, double force_regularization_weight)
static bool addRigidContactPointWithPriorityLevel (T &self, contacts::ContactPoint &contact, double force_regularization_weight, double motion_weight, const bool priority_level)
static bool addRigidContactTwoFramePositions (T &self, contacts::ContactTwoFramePositions &contact, double force_regularization_weight)
static bool addRigidContactTwoFramePositionsWithPriorityLevel (T &self, contacts::ContactTwoFramePositions &contact, double force_regularization_weight, double motion_weight, const bool priority_level)
static bool removeTask (T &self, const std::string &task_name, double transition_duration)
static bool removeRigidContact (T &self, const std::string &contactName, double transition_duration)
static bool removeFromHqpData (T &self, const std::string &constraintName)
static HQPDatas computeProblemData (T &self, double time, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
static Eigen::VectorXd getActuatorForces (T &self, const solvers::HQPOutput &sol)
static Eigen::VectorXd getAccelerations (T &self, const solvers::HQPOutput &sol)
static Eigen::VectorXd getContactForces (T &self, const solvers::HQPOutput &sol)
static bool checkContact (T &self, const std::string &name, const solvers::HQPOutput &sol)
static Eigen::VectorXd getContactForce (T &self, const std::string &name, const solvers::HQPOutput &sol)
static bool addMeasuredForce (T &self, contacts::Measured6Dwrench &measured_force)
static void expose (const std::string &class_name)

Member Function Documentation

◆ addActuationTask_Bounds()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addActuationTask_Bounds(T &self,
tasks::TaskActuationBounds &task,
doubleweight,
unsigned intpriorityLevel,
doubletransition_duration )
inlinestatic

◆ addForceTask_COP()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addForceTask_COP(T &self,
tasks::TaskCopEquality &task,
doubleweight,
unsigned intpriorityLevel,
doubletransition_duration )
inlinestatic

◆ addMeasuredForce()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addMeasuredForce(T &self,
contacts::Measured6Dwrench &measured_force )
inlinestatic

◆ addMotionTask_AM()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addMotionTask_AM(T &self,
tasks::TaskAMEquality &task,
doubleweight,
unsigned intpriorityLevel,
doubletransition_duration )
inlinestatic

◆ addMotionTask_COM()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addMotionTask_COM(T &self,
tasks::TaskComEquality &task,
doubleweight,
unsigned intpriorityLevel,
doubletransition_duration )
inlinestatic

◆ addMotionTask_Joint()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addMotionTask_Joint(T &self,
tasks::TaskJointPosture &task,
doubleweight,
unsigned intpriorityLevel,
doubletransition_duration )
inlinestatic

◆ addMotionTask_JointBounds()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addMotionTask_JointBounds(T &self,
tasks::TaskJointBounds &task,
doubleweight,
unsigned intpriorityLevel,
doubletransition_duration )
inlinestatic

◆ addMotionTask_JointPosVelAccBounds()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addMotionTask_JointPosVelAccBounds(T &self,
tasks::TaskJointPosVelAccBounds &task,
doubleweight,
unsigned intpriorityLevel,
doubletransition_duration )
inlinestatic

◆ addMotionTask_SE3()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addMotionTask_SE3(T &self,
tasks::TaskSE3Equality &task,
doubleweight,
unsigned intpriorityLevel,
doubletransition_duration )
inlinestatic

◆ addMotionTask_TwoFramesEquality()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addMotionTask_TwoFramesEquality(T &self,
tasks::TaskTwoFramesEquality &task,
doubleweight,
unsigned intpriorityLevel,
doubletransition_duration )
inlinestatic

◆ addRigidContact6d()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addRigidContact6d(T &self,
contacts::Contact6d &contact,
doubleforce_regularization_weight )
inlinestatic

◆ addRigidContact6dDeprecated()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addRigidContact6dDeprecated(T &self,
contacts::Contact6d &contact )
inlinestatic

◆ addRigidContact6dWithPriorityLevel()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addRigidContact6dWithPriorityLevel(T &self,
contacts::Contact6d &contact,
doubleforce_regularization_weight,
doublemotion_weight,
const boolpriority_level )
inlinestatic

◆ addRigidContactPoint()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addRigidContactPoint(T &self,
contacts::ContactPoint &contact,
doubleforce_regularization_weight )
inlinestatic

◆ addRigidContactPointWithPriorityLevel()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addRigidContactPointWithPriorityLevel(T &self,
contacts::ContactPoint &contact,
doubleforce_regularization_weight,
doublemotion_weight,
const boolpriority_level )
inlinestatic

◆ addRigidContactTwoFramePositions()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addRigidContactTwoFramePositions(T &self,
contacts::ContactTwoFramePositions &contact,
doubleforce_regularization_weight )
inlinestatic

◆ addRigidContactTwoFramePositionsWithPriorityLevel()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::addRigidContactTwoFramePositionsWithPriorityLevel(T &self,
contacts::ContactTwoFramePositions &contact,
doubleforce_regularization_weight,
doublemotion_weight,
const boolpriority_level )
inlinestatic

◆ checkContact()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::checkContact(T &self,
const std::string &name,
const solvers::HQPOutput &sol )
inlinestatic

◆ computeProblemData()

template<typename T>
HQPDatas tsid::python::InvDynPythonVisitor< T >::computeProblemData(T &self,
doubletime,
const Eigen::VectorXd &q,
const Eigen::VectorXd &v )
inlinestatic

◆ data()

template<typename T>
pinocchio::Data tsid::python::InvDynPythonVisitor< T >::data(T &self)
inlinestatic

◆ expose()

template<typename T>
void tsid::python::InvDynPythonVisitor< T >::expose(const std::string &class_name)
inlinestatic

◆ getAccelerations()

template<typename T>
Eigen::VectorXd tsid::python::InvDynPythonVisitor< T >::getAccelerations(T &self,
const solvers::HQPOutput &sol )
inlinestatic

◆ getActuatorForces()

template<typename T>
Eigen::VectorXd tsid::python::InvDynPythonVisitor< T >::getActuatorForces(T &self,
const solvers::HQPOutput &sol )
inlinestatic

◆ getContactForce()

template<typename T>
Eigen::VectorXd tsid::python::InvDynPythonVisitor< T >::getContactForce(T &self,
const std::string &name,
const solvers::HQPOutput &sol )
inlinestatic

◆ getContactForces()

template<typename T>
Eigen::VectorXd tsid::python::InvDynPythonVisitor< T >::getContactForces(T &self,
const solvers::HQPOutput &sol )
inlinestatic

◆ removeFromHqpData()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::removeFromHqpData(T &self,
const std::string &constraintName )
inlinestatic

◆ removeRigidContact()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::removeRigidContact(T &self,
const std::string &contactName,
doubletransition_duration )
inlinestatic

◆ removeTask()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::removeTask(T &self,
const std::string &task_name,
doubletransition_duration )
inlinestatic

◆ updateRigidContactWeights()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::updateRigidContactWeights(T &self,
const std::string &contact_name,
doubleforce_regularization_weight )
inlinestatic

◆ updateRigidContactWeightsWithMotionWeight()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::updateRigidContactWeightsWithMotionWeight(T &self,
const std::string &contact_name,
doubleforce_regularization_weight,
doublemotion_weight )
inlinestatic

◆ updateTaskWeight()

template<typename T>
bool tsid::python::InvDynPythonVisitor< T >::updateTaskWeight(T &self,
const std::string &task_name,
doubleweight )
inlinestatic

◆ visit()

template<typename T>
template<class PyClass>
void tsid::python::InvDynPythonVisitor< T >::visit(PyClass &cl)const
inline
The documentation for this struct was generated from the following file: