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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_contact_force_hpp__ |
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#define __invdyn_task_contact_force_hpp__ |
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#include <tsid/deprecated.hh> |
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#include <tsid/tasks/task-base.hpp> |
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#include <tsid/formulations/contact-level.hpp> |
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#include <memory> |
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namespace tsid { |
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namespace tasks { |
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class TaskContactForce : public TaskBase { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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TaskContactForce(const std::string& name, RobotWrapper& robot); |
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virtual ~TaskContactForce() {} |
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/** |
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* Contact force tasks have an additional compute method that takes as extra |
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* input argument the list of active contacts. This can be needed for force |
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* tasks that involve all contacts, such as the CoP task. |
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*/ |
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TSID_DISABLE_WARNING_PUSH |
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// clang-format off |
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TSID_DISABLE_WARNING(-Woverloaded-virtual) |
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// clang-format on |
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virtual const ConstraintBase& compute( |
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const double t, ConstRefVector q, ConstRefVector v, Data& data, |
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const std::vector<std::shared_ptr<ContactLevel> >* contacts) = 0; |
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TSID_DISABLE_WARNING_POP |
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/** |
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* Return the name of the contact associated to this task if this task is |
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* associated to a specific contact. If this task is associated to multiple |
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* contact forces (all of them), returns an empty string. |
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*/ |
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virtual const std::string& getAssociatedContactName() = 0; |
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}; |
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} // namespace tasks |
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} // namespace tsid |
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#endif // ifndef __invdyn_task_contact_force_hpp__ |
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