tsid::tasks::TaskContactForce Class Referenceabstract
#include <tsid/tasks/task-contact-force.hpp>
Inheritance diagram for tsid::tasks::TaskContactForce:
Collaboration diagram for tsid::tasks::TaskContactForce:
Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | TaskContactForce (const std::string &name, RobotWrapper &robot) |
| virtual TSID_DISABLE_WARNING_PUSH const ConstraintBase & | compute (const double t, ConstRefVector q, ConstRefVector v, Data &data, const std::vector< std::shared_ptr< ContactLevel > > *contacts)=0 |
| virtual TSID_DISABLE_WARNING_POP const std::string & | getAssociatedContactName ()=0 |
 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) |
| 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 |
Additional Inherited Members | |
| Public Types inherited from tsid::tasks::TaskBase | |
| typedef math::ConstRefVector | ConstRefVector |
| typedef pinocchio::Data | Data |
| typedef robots::RobotWrapper | RobotWrapper |
| Public Attributes inherited from tsid::tasks::TaskBase | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase | ConstraintBase |
| Protected Attributes inherited from tsid::tasks::TaskBase | |
| std::string | m_name |
| RobotWrapper & | m_robot |
| Reference on the robot model. More... | |
Constructor & Destructor Documentation
◆ TaskContactForce()
| tsid::tasks::TaskContactForce::TaskContactForce | ( | const std::string & | name, |
| RobotWrapper & | robot | ||
| ) |
Member Function Documentation
◆ compute()
|
pure virtual |
Contact force tasks have an additional compute method that takes as extra input argument the list of active contacts. This can be needed for force tasks that involve all contacts, such as the CoP task.
Implemented in tsid::tasks::TaskCopEquality, and tsid::tasks::TaskContactForceEquality.
◆ getAssociatedContactName()
|
pure virtual |
Return the name of the contact associated to this task if this task is associated to a specific contact. If this task is associated to multiple contact forces (all of them), returns an empty string.
Implemented in tsid::tasks::TaskCopEquality, and tsid::tasks::TaskContactForceEquality.
The documentation for this class was generated from the following files:
- include/tsid/tasks/task-contact-force.hpp
- src/tasks/task-contact-force.cpp
