| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2017 CNRS |
| 3 |
|
|
// |
| 4 |
|
|
// This file is part of tsid |
| 5 |
|
|
// tsid is free software: you can redistribute it |
| 6 |
|
|
// and/or modify it under the terms of the GNU Lesser General Public |
| 7 |
|
|
// License as published by the Free Software Foundation, either version |
| 8 |
|
|
// 3 of the License, or (at your option) any later version. |
| 9 |
|
|
// tsid is distributed in the hope that it will be |
| 10 |
|
|
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
| 11 |
|
|
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
| 12 |
|
|
// General Lesser Public License for more details. You should have |
| 13 |
|
|
// received a copy of the GNU Lesser General Public License along with |
| 14 |
|
|
// tsid If not, see |
| 15 |
|
|
// <http://www.gnu.org/licenses/>. |
| 16 |
|
|
// |
| 17 |
|
|
|
| 18 |
|
|
#include "tsid/formulations/inverse-dynamics-formulation-base.hpp" |
| 19 |
|
|
|
| 20 |
|
|
namespace tsid { |
| 21 |
|
|
|
| 22 |
|
✗ |
TaskLevel::TaskLevel(tasks::TaskBase& task, unsigned int priority) |
| 23 |
|
✗ |
: task(task), priority(priority) {} |
| 24 |
|
|
|
| 25 |
|
✗ |
TaskLevelForce::TaskLevelForce(tasks::TaskContactForce& task, |
| 26 |
|
✗ |
unsigned int priority) |
| 27 |
|
✗ |
: task(task), priority(priority) {} |
| 28 |
|
|
|
| 29 |
|
✗ |
InverseDynamicsFormulationBase::InverseDynamicsFormulationBase( |
| 30 |
|
✗ |
const std::string& name, RobotWrapper& robot, bool verbose) |
| 31 |
|
✗ |
: m_name(name), m_robot(robot), m_verbose(verbose) {} |
| 32 |
|
|
|
| 33 |
|
✗ |
MeasuredForceLevel::MeasuredForceLevel( |
| 34 |
|
✗ |
contacts::MeasuredForceBase& measuredForce) |
| 35 |
|
✗ |
: measuredForce(measuredForce) {} |
| 36 |
|
|
|
| 37 |
|
✗ |
bool InverseDynamicsFormulationBase::addRigidContact(ContactBase& contact) { |
| 38 |
|
✗ |
return addRigidContact(contact, 1e-5); |
| 39 |
|
|
} |
| 40 |
|
|
} // namespace tsid |
| 41 |
|
|
|