task-capture-point-inequality.hpp

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//
// Copyright (c) 2020 CNRS, NYU, MPI Tübingen, PAL Robotics
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#ifndef __invdyn_task_capture_point_inequality_hpp__
#define __invdyn_task_capture_point_inequality_hpp__

#include <tsid/tasks/task-motion.hpp>
#include <tsid/trajectories/trajectory-base.hpp>
#include <tsid/math/constraint-inequality.hpp>
#include <vector>
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/multibody/data.hpp>

namespace tsid {
namespace tasks {

class TaskCapturePointInequality : public TaskMotion {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef math::Index Index;
 typedef math::Vector Vector;
 typedef math::Matrix Matrix;
 typedef math::Vector3 Vector3;
 typedef math::ConstraintInequality ConstraintInequality;
 typedef pinocchio::Data Data;
 typedef pinocchio::SE3 SE3;

 TaskCapturePointInequality(const std::string& name, RobotWrapper& robot,
 const double timeStep);

 int dim() const override;

 const ConstraintBase& compute(double t, ConstRefVector q, ConstRefVector v,
 Data& data) override;

 const ConstraintBase& getConstraint() const override;

 Vector getAcceleration(ConstRefVector dv) const override;

 const Vector& position() const override;

 void setSupportLimitsXAxis(const double x_min, const double x_max);

 void setSupportLimitsYAxis(const double y_min, const double y_max);

 void setSafetyMargin(const double x_margin, const double y_margin);

 protected:
 Vector m_drift_vec;
 Vector3 m_drift;
 Vector m_p_com, m_v_com;
 Vector m_rp_min;
 Vector m_rp_max;

 ConstraintInequality m_constraint;

 Vector m_safety_margin;
 Vector m_support_limits_x;
 Vector m_support_limits_y;

 Eigen::Index m_nv;
 double m_delta_t;
 double m_g;
 double m_w;
 double m_ka;
 int m_dim;

 Vector b_lower;
 Vector b_upper;
};

} // namespace tasks
} // namespace tsid

#endif // ifndef __invdyn_task_capture_point_inequality_hpp__