task-joint-posture.hpp

Go to the documentation of this file.

//
// Copyright (c) 2017 CNRS
//
// 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_joint_posture_hpp__
#define __invdyn_task_joint_posture_hpp__

#include <tsid/tasks/task-motion.hpp>
#include <tsid/trajectories/trajectory-base.hpp>
#include <tsid/math/constraint-equality.hpp>
#include <tsid/deprecated.hh>

namespace tsid {
namespace tasks {

class TaskJointPosture : public TaskMotion {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

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

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

 int dim() const override;

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

 const ConstraintBase& getConstraint() const override;

 void setReference(const TrajectorySample& ref);
 const TrajectorySample& getReference() const override;

 const Vector& getDesiredAcceleration() const override;
 Vector getAcceleration(ConstRefVector dv) const override;

 TSID_DEPRECATED const Vector& mask() const; // deprecated
 TSID_DEPRECATED void mask(const Vector& mask); // deprecated
 void setMask(math::ConstRefVector mask) override;

 const Vector& position_error() const override;
 const Vector& velocity_error() const override;
 const Vector& position() const override;
 const Vector& velocity() const override;
 const Vector& position_ref() const override;
 const Vector& velocity_ref() const override;

 const Vector& Kp();
 const Vector& Kd();
 void Kp(ConstRefVector Kp);
 void Kd(ConstRefVector Kp);

 protected:
 Vector m_Kp;
 Vector m_Kd;
 Vector m_p_error, m_v_error;
 Vector m_p, m_v;
 Vector m_a_des;
 VectorXi m_activeAxes;
 TrajectorySample m_ref;
 Vector m_ref_q_augmented;
 ConstraintEquality m_constraint;
};

} // namespace tasks
} // namespace tsid

#endif // ifndef __invdyn_task_joint_posture_hpp__