tsid::InverseDynamicsFormulationBase Class Reference

Wrapper for a robot based on pinocchio. More...

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

Inheritance diagram for tsid::InverseDynamicsFormulationBase:

Collaboration diagram for tsid::InverseDynamicsFormulationBase:

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

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::Data	Data

Protected Attributes
std::string	m_name
RobotWrapper	m_robot
bool	m_verbose

Detailed Description

Wrapper for a robot based on pinocchio.

Member Typedef Documentation

ConstRefVector

typedef math::ConstRefVector tsid::InverseDynamicsFormulationBase::ConstRefVector

ContactBase

typedef contacts::ContactBase tsid::InverseDynamicsFormulationBase::ContactBase

HQPData

typedef solvers::HQPData tsid::InverseDynamicsFormulationBase::HQPData

HQPOutput

typedef solvers::HQPOutput tsid::InverseDynamicsFormulationBase::HQPOutput

MeasuredForceBase

typedef contacts::MeasuredForceBase tsid::InverseDynamicsFormulationBase::MeasuredForceBase

RefVector

typedef math::RefVector tsid::InverseDynamicsFormulationBase::RefVector

RobotWrapper

typedef robots::RobotWrapper tsid::InverseDynamicsFormulationBase::RobotWrapper

TaskActuation

typedef tasks::TaskActuation tsid::InverseDynamicsFormulationBase::TaskActuation

TaskBase

typedef tasks::TaskBase tsid::InverseDynamicsFormulationBase::TaskBase

TaskContactForce

typedef tasks::TaskContactForce tsid::InverseDynamicsFormulationBase::TaskContactForce

TaskMotion

typedef tasks::TaskMotion tsid::InverseDynamicsFormulationBase::TaskMotion

Vector

typedef math::Vector tsid::InverseDynamicsFormulationBase::Vector

Constructor & Destructor Documentation

InverseDynamicsFormulationBase()

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

~InverseDynamicsFormulationBase()

virtual tsid::InverseDynamicsFormulationBase::~InverseDynamicsFormulationBase ( )

virtualdefault

Member Function Documentation

addActuationTask()

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

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

addForceTask()

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

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

addMeasuredForce()

virtual bool tsid::InverseDynamicsFormulationBase::addMeasuredForce ( MeasuredForceBase &  measuredForce )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

addMotionTask()

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

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

addRigidContact() [1/2]

bool tsid::InverseDynamicsFormulationBase::addRigidContact ( ContactBase &  contact )

virtual

Reimplemented in tsid::InverseDynamicsFormulationAccForce.

addRigidContact() [2/2]

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

pure virtual

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

Implemented in tsid::InverseDynamicsFormulationAccForce.

computeProblemData()

virtual const HQPData& tsid::InverseDynamicsFormulationBase::computeProblemData ( double  time, ConstRefVector  q, ConstRefVector  v  )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

data()

virtual Data& tsid::InverseDynamicsFormulationBase::data ( )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

getAccelerations()

virtual const Vector& tsid::InverseDynamicsFormulationBase::getAccelerations ( const HQPOutput &  sol )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

getActuatorForces()

virtual const Vector& tsid::InverseDynamicsFormulationBase::getActuatorForces ( const HQPOutput &  sol )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

getContactForces() [1/2]

virtual const Vector& tsid::InverseDynamicsFormulationBase::getContactForces ( const HQPOutput &  sol )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

getContactForces() [2/2]

virtual bool tsid::InverseDynamicsFormulationBase::getContactForces ( const std::string &  name, const HQPOutput &  sol, RefVector  f  )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

nEq()

virtual unsigned int tsid::InverseDynamicsFormulationBase::nEq ( ) const

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

nIn()

virtual unsigned int tsid::InverseDynamicsFormulationBase::nIn ( ) const

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

nVar()

virtual unsigned int tsid::InverseDynamicsFormulationBase::nVar ( ) const

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

removeMeasuredForce()

virtual bool tsid::InverseDynamicsFormulationBase::removeMeasuredForce ( const std::string &  measuredForceName )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

removeRigidContact()

virtual bool tsid::InverseDynamicsFormulationBase::removeRigidContact ( const std::string &  contactName, double  transition_duration = 0.0  )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

removeTask()

virtual bool tsid::InverseDynamicsFormulationBase::removeTask ( const std::string &  taskName, double  transition_duration = 0.0  )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

updateRigidContactWeights()

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

pure virtual

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

Implemented in tsid::InverseDynamicsFormulationAccForce.

updateTaskWeight()

virtual bool tsid::InverseDynamicsFormulationBase::updateTaskWeight ( const std::string &  task_name, double  weight  )

pure virtual

Implemented in tsid::InverseDynamicsFormulationAccForce.

Member Data Documentation

Data

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::Data tsid::InverseDynamicsFormulationBase::Data

m_name

std::string tsid::InverseDynamicsFormulationBase::m_name

protected

m_robot

RobotWrapper tsid::InverseDynamicsFormulationBase::m_robot

protected

m_verbose

bool tsid::InverseDynamicsFormulationBase::m_verbose

protected

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

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