tsid::tasks::TaskBase Class Reference

Base template of a Task. Each class is defined according to a constant model of a robot. More...

#include <tsid/tasks/task-base.hpp>

Inheritance diagram for tsid::tasks::TaskBase:

Collaboration diagram for tsid::tasks::TaskBase:

Public Types
typedef math::ConstRefVector	ConstRefVector
typedef pinocchio::Data	Data
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	TaskBase (const std::string &name, RobotWrapper &robot)
virtual	~TaskBase ()=default
const std::string &	name () const
void	name (const std::string &name)
virtual int	dim () const =0
	Return the dimension of the task. \info should be overloaded in the child class. More...
virtual const ConstraintBase &	compute (double t, ConstRefVector q, ConstRefVector v, Data &data)=0
virtual const ConstraintBase &	getConstraint () const =0

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase	ConstraintBase

Protected Attributes
std::string	m_name
RobotWrapper &	m_robot
	Reference on the robot model. More...

Detailed Description

Base template of a Task. Each class is defined according to a constant model of a robot.

Member Typedef Documentation

ConstRefVector

typedef math::ConstRefVector tsid::tasks::TaskBase::ConstRefVector

Data

typedef pinocchio::Data tsid::tasks::TaskBase::Data

RobotWrapper

typedef robots::RobotWrapper tsid::tasks::TaskBase::RobotWrapper

Constructor & Destructor Documentation

TaskBase()

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

~TaskBase()

virtual tsid::tasks::TaskBase::~TaskBase ( )

virtualdefault

Member Function Documentation

compute()

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

pure virtual

Implemented in tsid::tasks::TaskJointPosVelAccBounds, tsid::tasks::TaskCopEquality, tsid::tasks::TaskContactForceEquality, tsid::tasks::TaskComEquality, tsid::tasks::TaskCapturePointInequality, tsid::tasks::TaskAMEquality, tsid::tasks::TaskActuationEquality, tsid::tasks::TaskActuationBounds, tsid::tasks::TaskTwoFramesEquality, tsid::tasks::TaskSE3Equality, tsid::tasks::TaskJointPosture, and tsid::tasks::TaskJointBounds.

dim()

virtual int tsid::tasks::TaskBase::dim ( ) const

pure virtual

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

Implemented in tsid::tasks::TaskTwoFramesEquality, tsid::tasks::TaskSE3Equality, tsid::tasks::TaskJointPosVelAccBounds, tsid::tasks::TaskJointPosture, tsid::tasks::TaskJointBounds, tsid::tasks::TaskCopEquality, tsid::tasks::TaskContactForceEquality, tsid::tasks::TaskComEquality, tsid::tasks::TaskCapturePointInequality, tsid::tasks::TaskAMEquality, tsid::tasks::TaskActuationEquality, and tsid::tasks::TaskActuationBounds.

getConstraint()

virtual const ConstraintBase& tsid::tasks::TaskBase::getConstraint ( ) const

pure virtual

Implemented in tsid::tasks::TaskTwoFramesEquality, tsid::tasks::TaskSE3Equality, tsid::tasks::TaskJointPosVelAccBounds, tsid::tasks::TaskJointPosture, tsid::tasks::TaskJointBounds, tsid::tasks::TaskCopEquality, tsid::tasks::TaskContactForceEquality, tsid::tasks::TaskComEquality, tsid::tasks::TaskCapturePointInequality, tsid::tasks::TaskAMEquality, tsid::tasks::TaskActuationEquality, and tsid::tasks::TaskActuationBounds.

name() [1/2]

const std::string & tsid::tasks::TaskBase::name

(

)

const

name() [2/2]

void tsid::tasks::TaskBase::name

(

const std::string &

name

)

Member Data Documentation

ConstraintBase

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase tsid::tasks::TaskBase::ConstraintBase

m_name

std::string tsid::tasks::TaskBase::m_name

protected

m_robot

RobotWrapper& tsid::tasks::TaskBase::m_robot

protected

Reference on the robot model.

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

• include/tsid/tasks/task-base.hpp
• src/tasks/task-base.cpp