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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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#include "tsid/formulations/inverse-dynamics-formulation-base.hpp" |
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namespace tsid { |
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TaskLevel::TaskLevel(tasks::TaskBase& task, unsigned int priority) |
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: task(task), priority(priority) {} |
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TaskLevelForce::TaskLevelForce(tasks::TaskContactForce& task, |
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unsigned int priority) |
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: task(task), priority(priority) {} |
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InverseDynamicsFormulationBase::InverseDynamicsFormulationBase( |
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const std::string& name, RobotWrapper& robot, bool verbose) |
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: m_name(name), m_robot(robot), m_verbose(verbose) {} |
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MeasuredForceLevel::MeasuredForceLevel( |
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contacts::MeasuredForceBase& measuredForce) |
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: measuredForce(measuredForce) {} |
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bool InverseDynamicsFormulationBase::addRigidContact(ContactBase& contact) { |
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return addRigidContact(contact, 1e-5); |
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} |
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} // namespace tsid |