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

Inheritance diagram for tsid::tasks::TaskComEquality:

Collaboration diagram for tsid::tasks::TaskComEquality:

[legend]

Public Types
typedef trajectories::TrajectorySample	TrajectorySample

typedef math::Vector	Vector

typedef math::Vector3	Vector3

typedef math::ConstraintEquality	ConstraintEquality

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
	TaskComEquality (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 Vector &	getDesiredAcceleration () const override

Vector	getAcceleration (ConstRefVector dv) const override

virtual void	setMask (math::ConstRefVector mask) override

const Vector &	position_error () const override

const Vector &	velocity_error () const override

const Vector &	position () const override

const Vector &	velocity () const override

const Vector &	position_ref () const override

const Vector &	velocity_ref () const override

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 &	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_p_error

Vector3	m_v_error

Vector	m_p_error_masked_vec

Vector	m_v_error_masked_vec

Vector3	m_a_des

Vector	m_a_des_vec

Vector	m_a_des_masked

Vector3	m_drift

Vector	m_drift_masked

Vector	m_p_com

Vector	m_v_com

Vector	m_p_error_vec

Vector	m_v_error_vec

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::TaskComEquality::ConstraintEquality

◆ TrajectorySample

typedef trajectories::TrajectorySample tsid::tasks::TaskComEquality::TrajectorySample

◆ Vector

typedef math::Vector tsid::tasks::TaskComEquality::Vector

◆ Vector3

typedef math::Vector3 tsid::tasks::TaskComEquality::Vector3

Constructor & Destructor Documentation

◆ TaskComEquality()

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

Member Function Documentation

◆ compute()

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

overridevirtual

Implements tsid::tasks::TaskBase.

◆ dim()

int tsid::tasks::TaskComEquality::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::TaskComEquality::getAcceleration ( ConstRefVector dv ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ getConstraint()

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

overridevirtual

Implements tsid::tasks::TaskBase.

◆ getDesiredAcceleration()

const Vector & tsid::tasks::TaskComEquality::getDesiredAcceleration ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ getReference()

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

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ Kd() [1/2]

const Vector3 & tsid::tasks::TaskComEquality::Kd ( )

◆ Kd() [2/2]

void tsid::tasks::TaskComEquality::Kd ( ConstRefVector Kp )

◆ Kp() [1/2]

const Vector3 & tsid::tasks::TaskComEquality::Kp ( )

◆ Kp() [2/2]

void tsid::tasks::TaskComEquality::Kp ( ConstRefVector Kp )

◆ position()

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

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ position_error()

const Vector & tsid::tasks::TaskComEquality::position_error ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ position_ref()

const Vector & tsid::tasks::TaskComEquality::position_ref ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ setMask()

void tsid::tasks::TaskComEquality::setMask ( math::ConstRefVector mask )

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ setReference()

void tsid::tasks::TaskComEquality::setReference ( const TrajectorySample & ref )

◆ velocity()

const Vector & tsid::tasks::TaskComEquality::velocity ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ velocity_error()

const Vector & tsid::tasks::TaskComEquality::velocity_error ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

◆ velocity_ref()

const Vector & tsid::tasks::TaskComEquality::velocity_ref ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Member Data Documentation

◆ Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskComEquality::Index

◆ m_a_des

Vector3 tsid::tasks::TaskComEquality::m_a_des

protected

◆ m_a_des_masked

Vector tsid::tasks::TaskComEquality::m_a_des_masked

protected

◆ m_a_des_vec

Vector tsid::tasks::TaskComEquality::m_a_des_vec

protected

◆ m_constraint

ConstraintEquality tsid::tasks::TaskComEquality::m_constraint

protected

◆ m_drift

Vector3 tsid::tasks::TaskComEquality::m_drift

protected

◆ m_drift_masked

Vector tsid::tasks::TaskComEquality::m_drift_masked

protected

◆ m_Kd

Vector3 tsid::tasks::TaskComEquality::m_Kd

protected

◆ m_Kp

Vector3 tsid::tasks::TaskComEquality::m_Kp

protected

◆ m_p_com

Vector tsid::tasks::TaskComEquality::m_p_com

protected

◆ m_p_error

Vector3 tsid::tasks::TaskComEquality::m_p_error

protected

◆ m_p_error_masked_vec

Vector tsid::tasks::TaskComEquality::m_p_error_masked_vec

protected

◆ m_p_error_vec

Vector tsid::tasks::TaskComEquality::m_p_error_vec

protected

◆ m_ref

TrajectorySample tsid::tasks::TaskComEquality::m_ref

protected

◆ m_v_com

Vector tsid::tasks::TaskComEquality::m_v_com

protected

◆ m_v_error

Vector3 tsid::tasks::TaskComEquality::m_v_error

protected

◆ m_v_error_masked_vec

Vector tsid::tasks::TaskComEquality::m_v_error_masked_vec

protected

◆ m_v_error_vec

Vector tsid::tasks::TaskComEquality::m_v_error_vec

protected

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

include/tsid/tasks/task-com-equality.hpp
src/tasks/task-com-equality.cpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Member Typedef Documentation

◆ ConstraintEquality

◆ TrajectorySample

◆ Vector

◆ Vector3

Constructor & Destructor Documentation

◆ TaskComEquality()

Member Function Documentation

◆ compute()

◆ dim()

◆ getAcceleration()

◆ getConstraint()

◆ getDesiredAcceleration()

◆ getReference()

◆ Kd() [1/2]

◆ Kd() [2/2]

◆ Kp() [1/2]

◆ Kp() [2/2]

◆ position()

◆ position_error()

◆ position_ref()

◆ setMask()

◆ setReference()

◆ velocity()

◆ velocity_error()

◆ velocity_ref()

Member Data Documentation

◆ Index

◆ m_a_des

◆ m_a_des_masked

◆ m_a_des_vec

◆ m_constraint

◆ m_drift

◆ m_drift_masked

◆ m_Kd

◆ m_Kp

◆ m_p_com

◆ m_p_error

◆ m_p_error_masked_vec

◆ m_p_error_vec

◆ m_ref

◆ m_v_com

◆ m_v_error

◆ m_v_error_masked_vec

◆ m_v_error_vec