GCC Code Coverage Report
Directory: ./ Exec Total Coverage
File: include/tsid/tasks/task-com-equality.hpp Lines: 1 2 50.0 %
Date: 2024-02-02 08:47:34 Branches: 0 0 - %

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//
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// Copyright (c) 2017 CNRS
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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_com_equality_hpp__
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#define __invdyn_task_com_equality_hpp__
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#include "tsid/math/fwd.hpp"
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#include "tsid/tasks/task-motion.hpp"
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#include "tsid/trajectories/trajectory-base.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 TaskComEquality : public TaskMotion {
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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 trajectories::TrajectorySample TrajectorySample;
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  typedef math::Vector Vector;
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  typedef math::Vector3 Vector3;
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  typedef math::ConstraintEquality ConstraintEquality;
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  TaskComEquality(const std::string& name, RobotWrapper& robot);
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  virtual ~TaskComEquality() {}
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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(const TrajectorySample& ref);
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  const TrajectorySample& getReference() const;
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  const Vector& getDesiredAcceleration() const;
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  Vector getAcceleration(ConstRefVector dv) const;
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  virtual void setMask(math::ConstRefVector mask);
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  const Vector& position_error() const;
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  const Vector& velocity_error() const;
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  const Vector& position() const;
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  const Vector& velocity() const;
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  const Vector& position_ref() const;
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  const Vector& velocity_ref() const;
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  const Vector3& Kp();
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  const Vector3& Kd();
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  void Kp(ConstRefVector Kp);
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  void Kd(ConstRefVector Kp);
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 protected:
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  Vector3 m_Kp;
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  Vector3 m_Kd;
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  Vector3 m_p_error, m_v_error;
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  Vector m_p_error_masked_vec, m_v_error_masked_vec;
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  Vector3 m_a_des;
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  Vector m_a_des_vec, m_a_des_masked;
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  Vector3 m_drift;
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  Vector m_drift_masked;
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  Vector m_p_com, m_v_com;
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  Vector m_p_error_vec, m_v_error_vec;
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  TrajectorySample m_ref;
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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_com_equality_hpp__