tsid 1.9.0
Efficient Task Space Inverse Dynamics for Multi-body Systems based on Pinocchio
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tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 > Struct Template Reference

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

Inheritance diagram for tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >:
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Collaboration diagram for tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >:
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Public Member Functions

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

Static Public Member Functions

static std::string name (TaskSE3 &self)
static math::ConstraintEquality compute (TaskSE3 &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)
static math::ConstraintEquality getConstraint (const TaskSE3 &self)
static void setReference (TaskSE3 &self, trajectories::TrajectorySample &ref)
static const Eigen::VectorXd & getDesiredAcceleration (const TaskSE3 &self)
static Eigen::VectorXd getAcceleration (TaskSE3 &self, const Eigen::VectorXd dv)
static const Eigen::VectorXd & position_error (const TaskSE3 &self)
static const Eigen::VectorXd & velocity_error (const TaskSE3 &self)
static const Eigen::VectorXd & position (const TaskSE3 &self)
static const Eigen::VectorXd & velocity (const TaskSE3 &self)
static const Eigen::VectorXd & position_ref (const TaskSE3 &self)
static const Eigen::VectorXd & velocity_ref (const TaskSE3 &self)
static const Eigen::VectorXd & Kp (TaskSE3 &self)
static const Eigen::VectorXd & Kd (TaskSE3 &self)
static void setKp (TaskSE3 &self, const ::Eigen::VectorXd Kp)
static void setKd (TaskSE3 &self, const ::Eigen::VectorXd Kv)
static void useLocalFrame (TaskSE3 &self, const bool local_frame)
static void getMask (TaskSE3 &self)
static void setMask (TaskSE3 &self, const ::Eigen::VectorXd mask)
static Eigen::VectorXd frame_id (TaskSE3 &self)
static void expose (const std::string &class_name)

Member Function Documentation

◆ compute()

template<typename TaskSE3>
math::ConstraintEquality tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::compute(TaskSE3 &self,
const doublet,
const Eigen::VectorXd &q,
const Eigen::VectorXd &v,
pinocchio::Data &data )
inlinestatic

◆ expose()

template<typename TaskSE3>
void tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::expose(const std::string &class_name)
inlinestatic

◆ frame_id()

template<typename TaskSE3>
Eigen::VectorXd tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::frame_id(TaskSE3 &self)
inlinestatic

◆ getAcceleration()

template<typename TaskSE3>
Eigen::VectorXd tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::getAcceleration(TaskSE3 &self,
const Eigen::VectorXddv )
inlinestatic

◆ getConstraint()

template<typename TaskSE3>
math::ConstraintEquality tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::getConstraint(const TaskSE3 &self)
inlinestatic

◆ getDesiredAcceleration()

template<typename TaskSE3>
const Eigen::VectorXd & tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::getDesiredAcceleration(const TaskSE3 &self)
inlinestatic

◆ getMask()

template<typename TaskSE3>
void tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::getMask(TaskSE3 &self)
inlinestatic

◆ Kd()

template<typename TaskSE3>
const Eigen::VectorXd & tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::Kd(TaskSE3 &self)
inlinestatic

◆ Kp()

template<typename TaskSE3>
const Eigen::VectorXd & tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::Kp(TaskSE3 &self)
inlinestatic

◆ name()

template<typename TaskSE3>
std::string tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::name(TaskSE3 &self)
inlinestatic

◆ position()

template<typename TaskSE3>
const Eigen::VectorXd & tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::position(const TaskSE3 &self)
inlinestatic

◆ position_error()

template<typename TaskSE3>
const Eigen::VectorXd & tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::position_error(const TaskSE3 &self)
inlinestatic

◆ position_ref()

template<typename TaskSE3>
const Eigen::VectorXd & tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::position_ref(const TaskSE3 &self)
inlinestatic

◆ setKd()

template<typename TaskSE3>
void tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::setKd(TaskSE3 &self,
const ::Eigen::VectorXdKv )
inlinestatic

◆ setKp()

template<typename TaskSE3>
void tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::setKp(TaskSE3 &self,
const ::Eigen::VectorXdKp )
inlinestatic

◆ setMask()

template<typename TaskSE3>
void tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::setMask(TaskSE3 &self,
const ::Eigen::VectorXdmask )
inlinestatic

◆ setReference()

template<typename TaskSE3>
void tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::setReference(TaskSE3 &self,
trajectories::TrajectorySample &ref )
inlinestatic

◆ useLocalFrame()

template<typename TaskSE3>
void tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::useLocalFrame(TaskSE3 &self,
const boollocal_frame )
inlinestatic

◆ velocity()

template<typename TaskSE3>
const Eigen::VectorXd & tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::velocity(const TaskSE3 &self)
inlinestatic

◆ velocity_error()

template<typename TaskSE3>
const Eigen::VectorXd & tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::velocity_error(const TaskSE3 &self)
inlinestatic

◆ velocity_ref()

template<typename TaskSE3>
const Eigen::VectorXd & tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::velocity_ref(const TaskSE3 &self)
inlinestatic

◆ visit()

template<typename TaskSE3>
template<class PyClass>
void tsid::python::TaskSE3EqualityPythonVisitor< TaskSE3 >::visit(PyClass &cl)const
inline
The documentation for this struct was generated from the following file: