tsid::InverseDynamicsFormulationAccForce Class Reference

#include <tsid/formulations/inverse-dynamics-formulation-acc-force.hpp>

Inheritance diagram for tsid::InverseDynamicsFormulationAccForce:

Collaboration diagram for tsid::InverseDynamicsFormulationAccForce:

Public Types
typedef math::Vector	Vector
typedef math::Matrix	Matrix
typedef math::ConstRefVector	ConstRefVector
typedef tasks::TaskBase	TaskBase
typedef tasks::TaskMotion	TaskMotion
typedef tasks::TaskContactForce	TaskContactForce
typedef tasks::TaskActuation	TaskActuation
typedef contacts::MeasuredForceBase	MeasuredForceBase
typedef solvers::HQPOutput	HQPOutput
Public Types inherited from tsid::InverseDynamicsFormulationBase
typedef math::Vector	Vector
typedef math::RefVector	RefVector
typedef math::ConstRefVector	ConstRefVector
typedef tasks::TaskMotion	TaskMotion
typedef tasks::TaskContactForce	TaskContactForce
typedef tasks::TaskActuation	TaskActuation
typedef tasks::TaskBase	TaskBase
typedef contacts::MeasuredForceBase	MeasuredForceBase
typedef contacts::ContactBase	ContactBase
typedef solvers::HQPData	HQPData
typedef solvers::HQPOutput	HQPOutput
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	InverseDynamicsFormulationAccForce (const std::string &name, RobotWrapper &robot, bool verbose=false)
Data &	data () override
unsigned int	nVar () const override
unsigned int	nEq () const override
unsigned int	nIn () const override
bool	addMotionTask (TaskMotion &task, double weight, unsigned int priorityLevel, double transition_duration=0.0) override
bool	addForceTask (TaskContactForce &task, double weight, unsigned int priorityLevel, double transition_duration=0.0) override
bool	addActuationTask (TaskActuation &task, double weight, unsigned int priorityLevel, double transition_duration=0.0) override
bool	updateTaskWeight (const std::string &task_name, double weight) override
bool	addRigidContact (ContactBase &contact, double force_regularization_weight, double motion_weight=1.0, unsigned int motion_priority_level=0) override
	Add a rigid contact constraint to the model, introducing the associated reaction forces as problem variables. More...
TSID_DEPRECATED bool	addRigidContact (ContactBase &contact) override
bool	updateRigidContactWeights (const std::string &contact_name, double force_regularization_weight, double motion_weight=-1.0) override
	Update the weights associated to the specified contact. More...
bool	addMeasuredForce (MeasuredForceBase &measuredForce) override
bool	removeTask (const std::string &taskName, double transition_duration=0.0) override
bool	removeRigidContact (const std::string &contactName, double transition_duration=0.0) override
bool	removeMeasuredForce (const std::string &measuredForceName) override
const HQPData &	computeProblemData (double time, ConstRefVector q, ConstRefVector v) override
const Vector &	getActuatorForces (const HQPOutput &sol) override
const Vector &	getAccelerations (const HQPOutput &sol) override
const Vector &	getContactForces (const HQPOutput &sol) override
Vector	getContactForces (const std::string &name, const HQPOutput &sol)
bool	getContactForces (const std::string &name, const HQPOutput &sol, RefVector f) override
template<class TaskLevelPointer >
void	addTask (TaskLevelPointer task, double weight, unsigned int priorityLevel)
void	resizeHqpData ()
bool	removeFromHqpData (const std::string &name)
bool	decodeSolution (const HQPOutput &sol)
Public Member Functions inherited from tsid::InverseDynamicsFormulationBase
	InverseDynamicsFormulationBase (const std::string &name, RobotWrapper &robot, bool verbose=false)
virtual	~InverseDynamicsFormulationBase ()=default

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::Data	Data
Data	m_data
HQPData	m_hqpData
std::vector< std::shared_ptr< TaskLevel > >	m_taskMotions
std::vector< std::shared_ptr< TaskLevelForce > >	m_taskContactForces
std::vector< std::shared_ptr< TaskLevel > >	m_taskActuations
std::vector< std::shared_ptr< ContactLevel > >	m_contacts
std::vector< std::shared_ptr< MeasuredForceLevel > >	m_measuredForces
double	m_t
unsigned int	m_k
	time More...
unsigned int	m_v
	number of contact-force variables More...
unsigned int	m_u
	number of acceleration variables More...
unsigned int	m_eq
	number of unactuated DoFs More...
unsigned int	m_in
	number of equality constraints More...
Matrix	m_Jc
	number of inequality constraints More...
std::shared_ptr< math::ConstraintEquality >	m_baseDynamics
	contact force Jacobian More...
bool	m_solutionDecoded
Vector	m_dv
Vector	m_f
Vector	m_tau
Vector	h_fext
std::vector< std::shared_ptr< ContactTransitionInfo > >	m_contactTransitions
	sum of external measured forces More...
Public Attributes inherited from tsid::InverseDynamicsFormulationBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::Data	Data

Additional Inherited Members
Protected Attributes inherited from tsid::InverseDynamicsFormulationBase
std::string	m_name
RobotWrapper	m_robot
bool	m_verbose

Member Typedef Documentation

ConstRefVector

typedef math::ConstRefVector tsid::InverseDynamicsFormulationAccForce::ConstRefVector

HQPOutput

typedef solvers::HQPOutput tsid::InverseDynamicsFormulationAccForce::HQPOutput

Matrix

typedef math::Matrix tsid::InverseDynamicsFormulationAccForce::Matrix

MeasuredForceBase

typedef contacts::MeasuredForceBase tsid::InverseDynamicsFormulationAccForce::MeasuredForceBase

TaskActuation

typedef tasks::TaskActuation tsid::InverseDynamicsFormulationAccForce::TaskActuation

TaskBase

typedef tasks::TaskBase tsid::InverseDynamicsFormulationAccForce::TaskBase

TaskContactForce

typedef tasks::TaskContactForce tsid::InverseDynamicsFormulationAccForce::TaskContactForce

TaskMotion

typedef tasks::TaskMotion tsid::InverseDynamicsFormulationAccForce::TaskMotion

Vector

typedef math::Vector tsid::InverseDynamicsFormulationAccForce::Vector

Constructor & Destructor Documentation

InverseDynamicsFormulationAccForce()

InverseDynamicsFormulationAccForce::InverseDynamicsFormulationAccForce	(	const std::string &	name,
		RobotWrapper &	robot,
		bool	verbose = false
	)

Member Function Documentation

addActuationTask()

bool InverseDynamicsFormulationAccForce::addActuationTask ( TaskActuation &  task, double  weight, unsigned int  priorityLevel, double  transition_duration = 0.0  )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

addForceTask()

bool InverseDynamicsFormulationAccForce::addForceTask ( TaskContactForce &  task, double  weight, unsigned int  priorityLevel, double  transition_duration = 0.0  )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

addMeasuredForce()

bool InverseDynamicsFormulationAccForce::addMeasuredForce ( MeasuredForceBase &  measuredForce )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

addMotionTask()

bool InverseDynamicsFormulationAccForce::addMotionTask ( TaskMotion &  task, double  weight, unsigned int  priorityLevel, double  transition_duration = 0.0  )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

addRigidContact() [1/2]

bool InverseDynamicsFormulationAccForce::addRigidContact ( ContactBase &  contact )

overridevirtual

Reimplemented from tsid::InverseDynamicsFormulationBase.

addRigidContact() [2/2]

bool InverseDynamicsFormulationAccForce::addRigidContact ( ContactBase &  contact, double  force_regularization_weight, double  motion_weight = 1.0, unsigned int  motion_priority_level = 0  )

overridevirtual

Add a rigid contact constraint to the model, introducing the associated reaction forces as problem variables.

Parameters

contact	The contact constraint to add
force_regularization_weight	The weight of the force regularization task
motion_weight	The weight of the motion task (e.g., zero acceleration of contact points)
motion_priority_level	Priority level of the motion task

Returns

True if everything went fine, false otherwise

Implements tsid::InverseDynamicsFormulationBase.

addTask()

template<class TaskLevelPointer >

void InverseDynamicsFormulationAccForce::addTask	(	TaskLevelPointer	task,
		double	weight,
		unsigned int	priorityLevel
	)

computeProblemData()

const HQPData & InverseDynamicsFormulationAccForce::computeProblemData ( double  time, ConstRefVector  q, ConstRefVector  v  )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

data()

Data & InverseDynamicsFormulationAccForce::data ( )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

decodeSolution()

bool InverseDynamicsFormulationAccForce::decodeSolution

(

const HQPOutput &

sol

)

getAccelerations()

const Vector & InverseDynamicsFormulationAccForce::getAccelerations ( const HQPOutput &  sol )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

getActuatorForces()

const Vector & InverseDynamicsFormulationAccForce::getActuatorForces ( const HQPOutput &  sol )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

getContactForces() [1/3]

const Vector & InverseDynamicsFormulationAccForce::getContactForces ( const HQPOutput &  sol )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

getContactForces() [2/3]

Vector InverseDynamicsFormulationAccForce::getContactForces	(	const std::string &	name,
		const HQPOutput &	sol
	)

getContactForces() [3/3]

bool InverseDynamicsFormulationAccForce::getContactForces ( const std::string &  name, const HQPOutput &  sol, RefVector  f  )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

nEq()

unsigned int InverseDynamicsFormulationAccForce::nEq ( ) const

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

nIn()

unsigned int InverseDynamicsFormulationAccForce::nIn ( ) const

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

nVar()

unsigned int InverseDynamicsFormulationAccForce::nVar ( ) const

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

removeFromHqpData()

bool InverseDynamicsFormulationAccForce::removeFromHqpData

(

const std::string &

name

)

removeMeasuredForce()

bool InverseDynamicsFormulationAccForce::removeMeasuredForce ( const std::string &  measuredForceName )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

removeRigidContact()

bool InverseDynamicsFormulationAccForce::removeRigidContact ( const std::string &  contactName, double  transition_duration = 0.0  )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

removeTask()

bool InverseDynamicsFormulationAccForce::removeTask ( const std::string &  taskName, double  transition_duration = 0.0  )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

resizeHqpData()

void InverseDynamicsFormulationAccForce::resizeHqpData

(

)

updateRigidContactWeights()

bool InverseDynamicsFormulationAccForce::updateRigidContactWeights ( const std::string &  contact_name, double  force_regularization_weight, double  motion_weight = -1.0  )

overridevirtual

Update the weights associated to the specified contact.

Parameters

contact_name	Name of the contact to update
force_regularization_weight	Weight of the force regularization task, if negative it is not updated
motion_weight	Weight of the motion task, if negative it is not update

Returns

True if everything went fine, false otherwise

Implements tsid::InverseDynamicsFormulationBase.

updateTaskWeight()

bool InverseDynamicsFormulationAccForce::updateTaskWeight ( const std::string &  task_name, double  weight  )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Member Data Documentation

Data

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::Data tsid::InverseDynamicsFormulationAccForce::Data

h_fext

Vector tsid::InverseDynamicsFormulationAccForce::h_fext

m_baseDynamics

std::shared_ptr<math::ConstraintEquality> tsid::InverseDynamicsFormulationAccForce::m_baseDynamics

contact force Jacobian

m_contacts

std::vector<std::shared_ptr<ContactLevel> > tsid::InverseDynamicsFormulationAccForce::m_contacts

m_contactTransitions

std::vector<std::shared_ptr<ContactTransitionInfo> > tsid::InverseDynamicsFormulationAccForce::m_contactTransitions

sum of external measured forces

m_data

Data tsid::InverseDynamicsFormulationAccForce::m_data

m_dv

Vector tsid::InverseDynamicsFormulationAccForce::m_dv

m_eq

unsigned int tsid::InverseDynamicsFormulationAccForce::m_eq

number of unactuated DoFs

m_f

Vector tsid::InverseDynamicsFormulationAccForce::m_f

m_hqpData

HQPData tsid::InverseDynamicsFormulationAccForce::m_hqpData

m_in

unsigned int tsid::InverseDynamicsFormulationAccForce::m_in

number of equality constraints

m_Jc

Matrix tsid::InverseDynamicsFormulationAccForce::m_Jc

number of inequality constraints

m_k

unsigned int tsid::InverseDynamicsFormulationAccForce::m_k

time

m_measuredForces

std::vector<std::shared_ptr<MeasuredForceLevel> > tsid::InverseDynamicsFormulationAccForce::m_measuredForces

m_solutionDecoded

bool tsid::InverseDynamicsFormulationAccForce::m_solutionDecoded

m_t

double tsid::InverseDynamicsFormulationAccForce::m_t

m_taskActuations

std::vector<std::shared_ptr<TaskLevel> > tsid::InverseDynamicsFormulationAccForce::m_taskActuations

m_taskContactForces

std::vector<std::shared_ptr<TaskLevelForce> > tsid::InverseDynamicsFormulationAccForce::m_taskContactForces

m_taskMotions

std::vector<std::shared_ptr<TaskLevel> > tsid::InverseDynamicsFormulationAccForce::m_taskMotions

m_tau

Vector tsid::InverseDynamicsFormulationAccForce::m_tau

m_u

unsigned int tsid::InverseDynamicsFormulationAccForce::m_u

number of acceleration variables

m_v

unsigned int tsid::InverseDynamicsFormulationAccForce::m_v

number of contact-force variables

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The documentation for this class was generated from the following files:

• include/tsid/formulations/inverse-dynamics-formulation-acc-force.hpp
• src/formulations/inverse-dynamics-formulation-acc-force.cpp