tsid: tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality > Struct Template Reference

tsid 1.9.0

Efficient Task Space Inverse Dynamics for Multi-body Systems based on Pinocchio

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#include <tsid/bindings/python/tasks/task-contact-force-equality.hpp>

Inheritance diagram for tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >:

Inheritance graph

Collaboration diagram for tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >:

Collaboration graph

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

Static Public Member Functions
static std::string	name (TaskContactForceEquality &self)
static math::ConstraintEquality	compute (TaskContactForceEquality &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)
static math::ConstraintEquality	getConstraint (const TaskContactForceEquality &self)
static void	setReference (TaskContactForceEquality &self, trajectories::TrajectorySample &ref)
static void	setExternalForce (TaskContactForceEquality &self, trajectories::TrajectorySample &f_ext)
static const Eigen::VectorXd &	Kp (TaskContactForceEquality &self)
static const Eigen::VectorXd &	Kd (TaskContactForceEquality &self)
static const Eigen::VectorXd &	Ki (TaskContactForceEquality &self)
static const double &	getLeakRate (TaskContactForceEquality &self)
static void	setKp (TaskContactForceEquality &self, const ::Eigen::VectorXd Kp)
static void	setKd (TaskContactForceEquality &self, const ::Eigen::VectorXd Kd)
static void	setKi (TaskContactForceEquality &self, const ::Eigen::VectorXd Ki)
static void	setLeakRate (TaskContactForceEquality &self, const double leak)
static void	expose (const std::string &class_name)

Member Function Documentation

◆ compute()

template<typename TaskContactForceEquality>

math::ConstraintEquality tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::compute	(	TaskContactForceEquality &	self,
		const double	t,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		pinocchio::Data &	data )

inlinestatic

◆ expose()

template<typename TaskContactForceEquality>

void tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::expose ( const std::string & class_name )

inlinestatic

◆ getConstraint()

template<typename TaskContactForceEquality>

math::ConstraintEquality tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::getConstraint ( const TaskContactForceEquality & self )

inlinestatic

◆ getLeakRate()

template<typename TaskContactForceEquality>

const double & tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::getLeakRate ( TaskContactForceEquality & self )

inlinestatic

◆ Kd()

template<typename TaskContactForceEquality>

const Eigen::VectorXd & tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::Kd ( TaskContactForceEquality & self )

inlinestatic

◆ Ki()

template<typename TaskContactForceEquality>

const Eigen::VectorXd & tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::Ki ( TaskContactForceEquality & self )

inlinestatic

◆ Kp()

template<typename TaskContactForceEquality>

const Eigen::VectorXd & tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::Kp ( TaskContactForceEquality & self )

inlinestatic

◆ name()

template<typename TaskContactForceEquality>

std::string tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::name ( TaskContactForceEquality & self )

inlinestatic

◆ setExternalForce()

template<typename TaskContactForceEquality>

void tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::setExternalForce	(	TaskContactForceEquality &	self,
		trajectories::TrajectorySample &	f_ext )

inlinestatic

◆ setKd()

template<typename TaskContactForceEquality>

void tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::setKd	(	TaskContactForceEquality &	self,
		const ::Eigen::VectorXd	Kd )

inlinestatic

◆ setKi()

template<typename TaskContactForceEquality>

void tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::setKi	(	TaskContactForceEquality &	self,
		const ::Eigen::VectorXd	Ki )

inlinestatic

◆ setKp()

template<typename TaskContactForceEquality>

void tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::setKp	(	TaskContactForceEquality &	self,
		const ::Eigen::VectorXd	Kp )

inlinestatic

◆ setLeakRate()

template<typename TaskContactForceEquality>

void tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::setLeakRate	(	TaskContactForceEquality &	self,
		const double	leak )

inlinestatic

◆ setReference()

template<typename TaskContactForceEquality>

void tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::setReference	(	TaskContactForceEquality &	self,
		trajectories::TrajectorySample &	ref )

inlinestatic

◆ visit()

template<typename TaskContactForceEquality>

template<class PyClass>

void tsid::python::TaskContactForceEqualityPythonVisitor< TaskContactForceEquality >::visit ( PyClass & cl ) const

inline

The documentation for this struct was generated from the following file:

include/tsid/bindings/python/tasks/task-contact-force-equality.hpp