tsid::tasks::TaskAMEquality Class Reference

#include <tsid/tasks/task-angular-momentum-equality.hpp>

Inheritance diagram for tsid::tasks::TaskAMEquality:

Collaboration diagram for tsid::tasks::TaskAMEquality:

Public Types
typedef trajectories::TrajectorySample	TrajectorySample
typedef math::Vector	Vector
typedef math::Vector3	Vector3
typedef math::ConstraintEquality	ConstraintEquality
typedef pinocchio::Data::Matrix6x	Matrix6x
Public Types inherited from tsid::tasks::TaskMotion
typedef trajectories::TrajectorySample	TrajectorySample
Public Types inherited from tsid::tasks::TaskBase
typedef math::ConstRefVector	ConstRefVector
typedef pinocchio::Data	Data
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	TaskAMEquality (const std::string &name, RobotWrapper &robot)
int	dim () const override
	Return the dimension of the task. \info should be overloaded in the child class. More...
const ConstraintBase &	compute (double t, ConstRefVector q, ConstRefVector v, Data &data) override
const ConstraintBase &	getConstraint () const override
void	setReference (const TrajectorySample &ref)
const TrajectorySample &	getReference () const override
const Vector3 &	getDesiredMomentumDerivative () const
Vector3	getdMomentum (ConstRefVector dv) const
const Vector3 &	momentum_error () const
const Vector3 &	momentum () const
const Vector &	momentum_ref () const
const Vector &	dmomentum_ref () const
const Vector3 &	Kp ()
const Vector3 &	Kd ()
void	Kp (ConstRefVector Kp)
void	Kd (ConstRefVector Kp)
Public Member Functions inherited from tsid::tasks::TaskMotion
	TaskMotion (const std::string &name, RobotWrapper &robot)
virtual const Vector &	getDesiredAcceleration () const
virtual Vector	getAcceleration (ConstRefVector dv) const
virtual const Vector &	position_error () const
virtual const Vector &	velocity_error () const
virtual const Vector &	position () const
virtual const Vector &	velocity () const
virtual const Vector &	position_ref () const
virtual const Vector &	velocity_ref () const
virtual void	setMask (math::ConstRefVector mask)
virtual const Vector &	getMask () const
virtual bool	hasMask ()
Public Member Functions inherited from tsid::tasks::TaskBase
	TaskBase (const std::string &name, RobotWrapper &robot)
virtual	~TaskBase ()=default
const std::string &	name () const
void	name (const std::string &name)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index	Index
Public Attributes inherited from tsid::tasks::TaskMotion
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector	Vector
Public Attributes inherited from tsid::tasks::TaskBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase	ConstraintBase

Protected Attributes
Vector3	m_Kp
Vector3	m_Kd
Vector3	m_L_error
Vector3	m_dL_error
Vector3	m_dL_des
Vector3	m_drift
Vector3	m_L
Vector3	m_dL
TrajectorySample	m_ref
ConstraintEquality	m_constraint
Protected Attributes inherited from tsid::tasks::TaskMotion
Vector	m_mask
Vector	m_dummy
trajectories::TrajectorySample	TrajectorySample_dummy
Protected Attributes inherited from tsid::tasks::TaskBase
std::string	m_name
RobotWrapper &	m_robot
	Reference on the robot model. More...

Member Typedef Documentation

ConstraintEquality

typedef math::ConstraintEquality tsid::tasks::TaskAMEquality::ConstraintEquality

Matrix6x

typedef pinocchio::Data::Matrix6x tsid::tasks::TaskAMEquality::Matrix6x

TrajectorySample

typedef trajectories::TrajectorySample tsid::tasks::TaskAMEquality::TrajectorySample

Vector

typedef math::Vector tsid::tasks::TaskAMEquality::Vector

Vector3

typedef math::Vector3 tsid::tasks::TaskAMEquality::Vector3

Constructor & Destructor Documentation

TaskAMEquality()

tsid::tasks::TaskAMEquality::TaskAMEquality	(	const std::string &	name,
		RobotWrapper &	robot
	)

Member Function Documentation

compute()

const ConstraintBase & tsid::tasks::TaskAMEquality::compute ( double  t, ConstRefVector  q, ConstRefVector  v, Data &  data  )

overridevirtual

Implements tsid::tasks::TaskBase.

dim()

int tsid::tasks::TaskAMEquality::dim ( ) const

overridevirtual

Return the dimension of the task. \info should be overloaded in the child class.

Implements tsid::tasks::TaskBase.

dmomentum_ref()

const Vector & tsid::tasks::TaskAMEquality::dmomentum_ref

(

)

const

getConstraint()

const ConstraintBase & tsid::tasks::TaskAMEquality::getConstraint ( ) const

overridevirtual

Implements tsid::tasks::TaskBase.

getDesiredMomentumDerivative()

const Vector3 & tsid::tasks::TaskAMEquality::getDesiredMomentumDerivative

(

)

const

getdMomentum()

Vector3 tsid::tasks::TaskAMEquality::getdMomentum

(

ConstRefVector

dv

)

const

getReference()

const TrajectorySample & tsid::tasks::TaskAMEquality::getReference ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Kd() [1/2]

const Vector3 & tsid::tasks::TaskAMEquality::Kd

(

)

Kd() [2/2]

void tsid::tasks::TaskAMEquality::Kd

(

ConstRefVector

Kp

)

Kp() [1/2]

const Vector3 & tsid::tasks::TaskAMEquality::Kp

(

)

Kp() [2/2]

void tsid::tasks::TaskAMEquality::Kp

(

ConstRefVector

Kp

)

momentum()

const Vector3 & tsid::tasks::TaskAMEquality::momentum

(

)

const

momentum_error()

const Vector3 & tsid::tasks::TaskAMEquality::momentum_error

(

)

const

momentum_ref()

const Vector & tsid::tasks::TaskAMEquality::momentum_ref

(

)

const

setReference()

void tsid::tasks::TaskAMEquality::setReference

(

const TrajectorySample &

ref

)

Member Data Documentation

Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskAMEquality::Index

m_constraint

ConstraintEquality tsid::tasks::TaskAMEquality::m_constraint

protected

m_dL

Vector3 tsid::tasks::TaskAMEquality::m_dL

protected

m_dL_des

Vector3 tsid::tasks::TaskAMEquality::m_dL_des

protected

m_dL_error

Vector3 tsid::tasks::TaskAMEquality::m_dL_error

protected

m_drift

Vector3 tsid::tasks::TaskAMEquality::m_drift

protected

m_Kd

Vector3 tsid::tasks::TaskAMEquality::m_Kd

protected

m_Kp

Vector3 tsid::tasks::TaskAMEquality::m_Kp

protected

m_L

Vector3 tsid::tasks::TaskAMEquality::m_L

protected

m_L_error

Vector3 tsid::tasks::TaskAMEquality::m_L_error

protected

m_ref

TrajectorySample tsid::tasks::TaskAMEquality::m_ref

protected

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

• include/tsid/tasks/task-angular-momentum-equality.hpp
• src/tasks/task-angular-momentum-equality.cpp