GCC Code Coverage Report
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File: include/tsid/tasks/task-actuation-equality.hpp Lines: 0 2 0.0 %
Date: 2023-11-10 01:09:11 Branches: 0 0 - %

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//
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// Copyright (c) 2021 CNRS INRIA LORIA
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//
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// This file is part of tsid
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// tsid is free software: you can redistribute it
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// and/or modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation, either version
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// 3 of the License, or (at your option) any later version.
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// tsid is distributed in the hope that it will be
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Lesser Public License for more details. You should have
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// received a copy of the GNU Lesser General Public License along with
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// tsid If not, see
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// <http://www.gnu.org/licenses/>.
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//
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#ifndef __invdyn_task_actuation_equality_hpp__
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#define __invdyn_task_actuation_equality_hpp__
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#include <tsid/tasks/task-actuation.hpp>
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#include <tsid/math/constraint-equality.hpp>
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namespace tsid {
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namespace tasks {
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class TaskActuationEquality : public TaskActuation {
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 public:
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  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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  typedef math::Index Index;
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  typedef math::Vector Vector;
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  typedef math::VectorXi VectorXi;
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  typedef math::ConstraintEquality ConstraintEquality;
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  typedef pinocchio::Data Data;
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  TaskActuationEquality(const std::string& name, RobotWrapper& robot);
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  virtual ~TaskActuationEquality() {}
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  int dim() const;
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  const ConstraintBase& compute(const double t, ConstRefVector q,
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                                ConstRefVector v, Data& data);
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  const ConstraintBase& getConstraint() const;
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  void setReference(math::ConstRefVector ref);
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  const Vector& getReference() const;
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  void setWeightVector(math::ConstRefVector weights);
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  const Vector& getWeightVector() const;
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  const Vector& mask() const;
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  void mask(const Vector& mask);
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 protected:
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  Vector m_mask;
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  VectorXi m_activeAxes;
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  Vector m_ref;
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  Vector m_weights;
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  ConstraintEquality m_constraint;
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};
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}  // namespace tasks
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}  // namespace tsid
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#endif  // ifndef __invdyn_task_actuation_equality_hpp__