#include <tsid/tasks/task-capture-point-inequality.hpp>

Inheritance diagram for tsid::tasks::TaskCapturePointInequality:

Collaboration diagram for tsid::tasks::TaskCapturePointInequality:

[legend]

Public Types
typedef math::Vector	Vector

typedef math::Matrix	Matrix

typedef math::Vector3	Vector3

typedef math::ConstraintInequality	ConstraintInequality

typedef pinocchio::Data	Data

typedef pinocchio::SE3	SE3

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
	TaskCapturePointInequality (const std::string &name, RobotWrapper &robot, const double timeStep)

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

Vector	getAcceleration (ConstRefVector dv) const override

const Vector &	position () const override

void	setSupportLimitsXAxis (const double x_min, const double x_max)

void	setSupportLimitsYAxis (const double y_min, const double y_max)

void	setSafetyMargin (const double x_margin, const double y_margin)

Public Member Functions inherited from tsid::tasks::TaskMotion
	TaskMotion (const std::string &name, RobotWrapper &robot)

virtual const TrajectorySample &	getReference () const

virtual const Vector &	getDesiredAcceleration () const

virtual const Vector &	position_error () const

virtual const Vector &	velocity_error () 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
Vector	m_drift_vec

Vector3	m_drift

Vector	m_p_com

Vector	m_v_com

Vector	m_rp_min

Vector	m_rp_max

ConstraintInequality	m_constraint

Vector	m_safety_margin

Vector	m_support_limits_x

Vector	m_support_limits_y

Eigen::Index	m_nv

double	m_delta_t

double	m_g

double	m_w

double	m_ka

int	m_dim

Vector	b_lower

Vector	b_upper

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

◆ ConstraintInequality

typedef math::ConstraintInequality tsid::tasks::TaskCapturePointInequality::ConstraintInequality

◆ Data

typedef pinocchio::Data tsid::tasks::TaskCapturePointInequality::Data

◆ Matrix

typedef math::Matrix tsid::tasks::TaskCapturePointInequality::Matrix

◆ SE3

typedef pinocchio::SE3 tsid::tasks::TaskCapturePointInequality::SE3

◆ Vector

typedef math::Vector tsid::tasks::TaskCapturePointInequality::Vector

◆ Vector3

typedef math::Vector3 tsid::tasks::TaskCapturePointInequality::Vector3

Constructor & Destructor Documentation

◆ TaskCapturePointInequality()

tsid::tasks::TaskCapturePointInequality::TaskCapturePointInequality	(	const std::string &	name,
		RobotWrapper &	robot,
		const double	timeStep
	)

Member Function Documentation

◆ compute()

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

overridevirtual

Implements tsid::tasks::TaskBase.

◆ dim()

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

overridevirtual

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

Implements tsid::tasks::TaskBase.

◆ getAcceleration()

Vector tsid::tasks::TaskCapturePointInequality::getAcceleration ( ConstRefVector dv ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ getConstraint()

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

overridevirtual

Implements tsid::tasks::TaskBase.

◆ position()

const Vector & tsid::tasks::TaskCapturePointInequality::position ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ setSafetyMargin()

void tsid::tasks::TaskCapturePointInequality::setSafetyMargin	(	const double	x_margin,
		const double	y_margin
	)

◆ setSupportLimitsXAxis()

void tsid::tasks::TaskCapturePointInequality::setSupportLimitsXAxis	(	const double	x_min,
		const double	x_max
	)

◆ setSupportLimitsYAxis()

void tsid::tasks::TaskCapturePointInequality::setSupportLimitsYAxis	(	const double	y_min,
		const double	y_max
	)

Member Data Documentation

◆ b_lower

Vector tsid::tasks::TaskCapturePointInequality::b_lower

protected

◆ b_upper

Vector tsid::tasks::TaskCapturePointInequality::b_upper

protected

◆ Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskCapturePointInequality::Index

◆ m_constraint

ConstraintInequality tsid::tasks::TaskCapturePointInequality::m_constraint

protected

◆ m_delta_t

double tsid::tasks::TaskCapturePointInequality::m_delta_t

protected

◆ m_dim

int tsid::tasks::TaskCapturePointInequality::m_dim

protected

◆ m_drift

Vector3 tsid::tasks::TaskCapturePointInequality::m_drift

protected

◆ m_drift_vec

Vector tsid::tasks::TaskCapturePointInequality::m_drift_vec

protected

◆ m_g

double tsid::tasks::TaskCapturePointInequality::m_g

protected

◆ m_ka

double tsid::tasks::TaskCapturePointInequality::m_ka

protected

◆ m_nv

Eigen::Index tsid::tasks::TaskCapturePointInequality::m_nv

protected

◆ m_p_com

Vector tsid::tasks::TaskCapturePointInequality::m_p_com

protected

◆ m_rp_max

Vector tsid::tasks::TaskCapturePointInequality::m_rp_max

protected

◆ m_rp_min

Vector tsid::tasks::TaskCapturePointInequality::m_rp_min

protected

◆ m_safety_margin

Vector tsid::tasks::TaskCapturePointInequality::m_safety_margin

protected

◆ m_support_limits_x

Vector tsid::tasks::TaskCapturePointInequality::m_support_limits_x

protected

◆ m_support_limits_y

Vector tsid::tasks::TaskCapturePointInequality::m_support_limits_y

protected

◆ m_v_com

Vector tsid::tasks::TaskCapturePointInequality::m_v_com

protected

◆ m_w

double tsid::tasks::TaskCapturePointInequality::m_w

protected

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

include/tsid/tasks/task-capture-point-inequality.hpp
src/tasks/task-capture-point-inequality.cpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Member Typedef Documentation

◆ ConstraintInequality

◆ Data

◆ Matrix

◆ SE3

◆ Vector

◆ Vector3

Constructor & Destructor Documentation

◆ TaskCapturePointInequality()

Member Function Documentation

◆ compute()

◆ dim()

◆ getAcceleration()

◆ getConstraint()

◆ position()

◆ setSafetyMargin()

◆ setSupportLimitsXAxis()

◆ setSupportLimitsYAxis()

Member Data Documentation

◆ b_lower

◆ b_upper

◆ Index

◆ m_constraint

◆ m_delta_t

◆ m_dim

◆ m_drift

◆ m_drift_vec

◆ m_g

◆ m_ka

◆ m_nv

◆ m_p_com

◆ m_rp_max

◆ m_rp_min

◆ m_safety_margin

◆ m_support_limits_x

◆ m_support_limits_y

◆ m_v_com

◆ m_w