task-two-frames-equality.hpp

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//
// Copyright (c) 2023 MIPT
//
// 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_frames_equality_hpp__
#define __invdyn_task_frames_equality_hpp__

#include "tsid/tasks/task-motion.hpp"
#include "tsid/trajectories/trajectory-base.hpp"
#include "tsid/math/constraint-equality.hpp"

#include <pinocchio/multibody/model.hpp>
#include <pinocchio/multibody/data.hpp>

namespace tsid {
namespace tasks {

class TaskTwoFramesEquality : public TaskMotion {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef math::Index Index;
 typedef trajectories::TrajectorySample TrajectorySample;
 typedef math::Vector Vector;
 typedef math::ConstraintEquality ConstraintEquality;
 typedef pinocchio::Data Data;
 typedef pinocchio::Data::Matrix6x Matrix6x;
 typedef pinocchio::Motion Motion;
 typedef pinocchio::SE3 SE3;

 TaskTwoFramesEquality(const std::string& name, RobotWrapper& robot,
 const std::string& frameName1,
 const std::string& frameName2);

 int dim() const override;

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

 const ConstraintBase& getConstraint() const override;

 const Vector& getDesiredAcceleration() const override;

 Vector getAcceleration(ConstRefVector dv) const override;

 virtual void setMask(math::ConstRefVector mask) override;

 const Vector& position_error() const override;

 const Vector& velocity_error() const override;

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

 Index frame_id1() const;
 Index frame_id2() const;

 void useLocalFrame(bool local_frame);

 protected:
 std::string m_frame_name1;
 std::string m_frame_name2;
 Index m_frame_id1;
 Index m_frame_id2;
 Motion m_p_error, m_v_error;
 Vector m_p_error_vec, m_v_error_vec;
 Vector m_p_error_masked_vec, m_v_error_masked_vec;
 Vector m_p, m_v;
 Vector m_p_ref, m_v_ref_vec;
 Motion m_v_ref, m_a_ref;
 SE3 m_wMl1, m_wMl2;
 Vector m_Kp;
 Vector m_Kd;
 Vector m_a_des, m_a_des_masked;
 Motion m_drift;
 Vector m_drift_masked;
 Matrix6x m_J1, m_J2;
 Matrix6x m_J1_rotated, m_J2_rotated;
 ConstraintEquality m_constraint;
};

} // namespace tasks
} // namespace tsid

#endif // ifndef __invdyn_task_frames_equality_hpp__