tsid::tasks::TaskActuationEquality Class Reference

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

Inheritance diagram for tsid::tasks::TaskActuationEquality:

Collaboration diagram for tsid::tasks::TaskActuationEquality:

Public Types
typedef math::Vector	Vector
typedef math::VectorXi	VectorXi
typedef math::ConstraintEquality	ConstraintEquality
typedef pinocchio::Data	Data
Public Types inherited from tsid::tasks::TaskBase
typedef math::ConstRefVector	ConstRefVector
typedef pinocchio::Data	Data
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	TaskActuationEquality (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 (math::ConstRefVector ref)
const Vector &	getReference () const
void	setWeightVector (math::ConstRefVector weights)
const Vector &	getWeightVector () const
const Vector &	mask () const
void	mask (const Vector &mask)
Public Member Functions inherited from tsid::tasks::TaskActuation
	TaskActuation (const std::string &name, RobotWrapper &robot)
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::TaskBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase	ConstraintBase

Protected Attributes
Vector	m_mask
VectorXi	m_activeAxes
Vector	m_ref
Vector	m_weights
ConstraintEquality	m_constraint
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::TaskActuationEquality::ConstraintEquality

Data

typedef pinocchio::Data tsid::tasks::TaskActuationEquality::Data

Vector

typedef math::Vector tsid::tasks::TaskActuationEquality::Vector

VectorXi

typedef math::VectorXi tsid::tasks::TaskActuationEquality::VectorXi

Constructor & Destructor Documentation

TaskActuationEquality()

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

Member Function Documentation

compute()

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

overridevirtual

Implements tsid::tasks::TaskBase.

dim()

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

overridevirtual

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

Implements tsid::tasks::TaskBase.

getConstraint()

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

overridevirtual

Implements tsid::tasks::TaskBase.

getReference()

const Vector & tsid::tasks::TaskActuationEquality::getReference

(

)

const

getWeightVector()

const Vector & tsid::tasks::TaskActuationEquality::getWeightVector

(

)

const

mask() [1/2]

const Vector & tsid::tasks::TaskActuationEquality::mask

(

)

const

mask() [2/2]

void tsid::tasks::TaskActuationEquality::mask

(

const Vector &

mask

)

setReference()

void tsid::tasks::TaskActuationEquality::setReference

(

math::ConstRefVector

ref

)

setWeightVector()

void tsid::tasks::TaskActuationEquality::setWeightVector

(

math::ConstRefVector

weights

)

Member Data Documentation

Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskActuationEquality::Index

m_activeAxes

VectorXi tsid::tasks::TaskActuationEquality::m_activeAxes

protected

m_constraint

ConstraintEquality tsid::tasks::TaskActuationEquality::m_constraint

protected

m_mask

Vector tsid::tasks::TaskActuationEquality::m_mask

protected

m_ref

Vector tsid::tasks::TaskActuationEquality::m_ref

protected

m_weights

Vector tsid::tasks::TaskActuationEquality::m_weights

protected

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

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