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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__ |
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