task-actuation-equality.hpp

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//
// Copyright (c) 2021 CNRS INRIA LORIA
//
// 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_actuation_equality_hpp__
#define __invdyn_task_actuation_equality_hpp__

#include <tsid/tasks/task-actuation.hpp>
#include <tsid/math/constraint-equality.hpp>

namespace tsid {
namespace tasks {
class TaskActuationEquality : public TaskActuation {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef math::Index Index;
 typedef math::Vector Vector;
 typedef math::VectorXi VectorXi;
 typedef math::ConstraintEquality ConstraintEquality;
 typedef pinocchio::Data Data;

 TaskActuationEquality(const std::string& name, RobotWrapper& robot);

 int dim() const override;

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

 const ConstraintBase& getConstraint() const override;

 void setReference(math::ConstRefVector ref);
 const Vector& getReference() const;

 void setWeightVector(math::ConstRefVector weights);
 const Vector& getWeightVector() const;

 const Vector& mask() const;
 void mask(const Vector& mask);

 protected:
 Vector m_mask;
 VectorXi m_activeAxes;
 Vector m_ref;
 Vector m_weights;
 ConstraintEquality m_constraint;
};
} // namespace tasks
} // namespace tsid

#endif // ifndef __invdyn_task_actuation_equality_hpp__