tsid::tasks::TaskCopEquality Class Reference

#include <tsid/tasks/task-cop-equality.hpp>

Inheritance diagram for tsid::tasks::TaskCopEquality:

Collaboration diagram for tsid::tasks::TaskCopEquality:

Public Types
typedef trajectories::TrajectorySample	TrajectorySample
typedef math::Vector	Vector
typedef math::Vector3	Vector3
typedef math::ConstraintEquality	ConstraintEquality
typedef pinocchio::SE3	SE3
Public Types inherited from tsid::tasks::TaskBase
typedef math::ConstRefVector	ConstRefVector
typedef pinocchio::Data	Data
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	TaskCopEquality (const std::string &name, RobotWrapper &robot)
void	setContactList (const std::vector< std::shared_ptr< ContactLevel > > *contacts)
int	dim () const override
	Return the dimension of the task. \info should be overloaded in the child class. More...
const std::string &	getAssociatedContactName () override
const ConstraintBase &	compute (double t, ConstRefVector q, ConstRefVector v, Data &data) override
const ConstraintBase &	compute (double t, ConstRefVector q, ConstRefVector v, Data &data, const std::vector< std::shared_ptr< ContactLevel > > *contacts) override
const ConstraintBase &	getConstraint () const override
void	setReference (const Vector3 &ref)
const Vector3 &	getReference () const
void	setContactNormal (const Vector3 &n)
const Vector3 &	getContactNormal () const
Public Member Functions inherited from tsid::tasks::TaskContactForce
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	TaskContactForce (const std::string &name, RobotWrapper &robot)
Public Member Functions inherited from tsid::tasks::TaskBase
	TaskBase (const std::string &name, RobotWrapper &robot)
virtual	~TaskBase ()=default
const std::string &	name () const
void	name (const std::string &name)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index	Index
Public Attributes inherited from tsid::tasks::TaskBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase	ConstraintBase

Protected Attributes
const std::vector< std::shared_ptr< ContactLevel > > *	m_contacts
std::string	m_contact_name
Vector3	m_normal
Vector3	m_ref
ConstraintEquality	m_constraint
Protected Attributes inherited from tsid::tasks::TaskBase
std::string	m_name
RobotWrapper &	m_robot
	Reference on the robot model. More...

Member Typedef Documentation

ConstraintEquality

typedef math::ConstraintEquality tsid::tasks::TaskCopEquality::ConstraintEquality

SE3

typedef pinocchio::SE3 tsid::tasks::TaskCopEquality::SE3

TrajectorySample

typedef trajectories::TrajectorySample tsid::tasks::TaskCopEquality::TrajectorySample

Vector

typedef math::Vector tsid::tasks::TaskCopEquality::Vector

Vector3

typedef math::Vector3 tsid::tasks::TaskCopEquality::Vector3

Constructor & Destructor Documentation

TaskCopEquality()

tsid::tasks::TaskCopEquality::TaskCopEquality	(	const std::string &	name,
		RobotWrapper &	robot
	)

Member Function Documentation

compute() [1/2]

const ConstraintBase & tsid::tasks::TaskCopEquality::compute ( double  t, ConstRefVector  q, ConstRefVector  v, Data &  data  )

overridevirtual

Implements tsid::tasks::TaskBase.

compute() [2/2]

const ConstraintBase & tsid::tasks::TaskCopEquality::compute ( double  t, ConstRefVector  q, ConstRefVector  v, Data &  data, const std::vector< std::shared_ptr< ContactLevel > > *  contacts  )

overridevirtual

Contact force tasks have an additional compute method that takes as extra input argument the list of active contacts. This can be needed for force tasks that involve all contacts, such as the CoP task.

Implements tsid::tasks::TaskContactForce.

dim()

int tsid::tasks::TaskCopEquality::dim ( ) const

overridevirtual

Return the dimension of the task. \info should be overloaded in the child class.

Implements tsid::tasks::TaskBase.

getAssociatedContactName()

const std::string & tsid::tasks::TaskCopEquality::getAssociatedContactName ( )

overridevirtual

Return the name of the contact associated to this task if this task is associated to a specific contact. If this task is associated to multiple contact forces (all of them), returns an empty string.

Implements tsid::tasks::TaskContactForce.

getConstraint()

const ConstraintBase & tsid::tasks::TaskCopEquality::getConstraint ( ) const

overridevirtual

Implements tsid::tasks::TaskBase.

getContactNormal()

const Vector3 & tsid::tasks::TaskCopEquality::getContactNormal

(

)

const

getReference()

const Vector3 & tsid::tasks::TaskCopEquality::getReference

(

)

const

setContactList()

void tsid::tasks::TaskCopEquality::setContactList

(

const std::vector< std::shared_ptr< ContactLevel > > *

contacts

)

setContactNormal()

void tsid::tasks::TaskCopEquality::setContactNormal

(

const Vector3 &

n

)

setReference()

void tsid::tasks::TaskCopEquality::setReference

(

const Vector3 &

ref

)

Member Data Documentation

Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskCopEquality::Index

m_constraint

ConstraintEquality tsid::tasks::TaskCopEquality::m_constraint

protected

m_contact_name

std::string tsid::tasks::TaskCopEquality::m_contact_name

protected

m_contacts

const std::vector<std::shared_ptr<ContactLevel> >* tsid::tasks::TaskCopEquality::m_contacts

protected

m_normal

Vector3 tsid::tasks::TaskCopEquality::m_normal

protected

m_ref

Vector3 tsid::tasks::TaskCopEquality::m_ref

protected

---

The documentation for this class was generated from the following files:

• include/tsid/tasks/task-cop-equality.hpp
• src/tasks/task-cop-equality.cpp