tsid::tasks::TaskContactForceEquality Class Reference

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

Inheritance diagram for tsid::tasks::TaskContactForceEquality:

Collaboration diagram for tsid::tasks::TaskContactForceEquality:

Public Types
typedef trajectories::TrajectorySample	TrajectorySample
typedef math::Vector	Vector
typedef math::Vector6	Vector6
typedef math::Vector3	Vector3
typedef math::ConstraintEquality	ConstraintEquality
typedef pinocchio::SE3	SE3
Public Types inherited from tsid::tasks::TaskBase
typedef math::ConstRefVector	ConstRefVector
typedef pinocchio::Data	Data
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
	TaskContactForceEquality (const std::string &name, RobotWrapper &robot, const double dt, contacts::ContactBase &contact)
int	dim () const override
	Return the dimension of the task. \info should be overloaded in the child class. More...
virtual const std::string &	getAssociatedContactName () override
virtual const contacts::ContactBase &	getAssociatedContact ()
void	setAssociatedContact (contacts::ContactBase &contact)
const ConstraintBase &	compute (double t, ConstRefVector q, ConstRefVector v, Data &data) override
const ConstraintBase &	compute (double t, ConstRefVector q, ConstRefVector v, Data &data, const std::vector< std::shared_ptr< ContactLevel > > *contacts) override
const ConstraintBase &	getConstraint () const override
void	setReference (TrajectorySample &ref)
const TrajectorySample &	getReference () const
void	setExternalForce (TrajectorySample &f_ext)
const TrajectorySample &	getExternalForce () const
const Vector &	Kp () const
const Vector &	Kd () const
const Vector &	Ki () const
const double &	getLeakRate () const
void	Kp (ConstRefVector Kp)
void	Kd (ConstRefVector Kp)
void	Ki (ConstRefVector Ki)
void	setLeakRate (double leak)
Public Member Functions inherited from tsid::tasks::TaskContactForce
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	TaskContactForce (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
contacts::ContactBase *	m_contact
std::string	m_contact_name
ConstraintEquality	m_constraint
TrajectorySample	m_ref
TrajectorySample	m_fext
Vector	m_forceIntegralError
Vector	m_Kp
Vector	m_Kd
Vector	m_Ki
double	m_dt
double	m_leak_rate
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::TaskContactForceEquality::ConstraintEquality

SE3

typedef pinocchio::SE3 tsid::tasks::TaskContactForceEquality::SE3

TrajectorySample

typedef trajectories::TrajectorySample tsid::tasks::TaskContactForceEquality::TrajectorySample

Vector

typedef math::Vector tsid::tasks::TaskContactForceEquality::Vector

Vector3

typedef math::Vector3 tsid::tasks::TaskContactForceEquality::Vector3

Vector6

typedef math::Vector6 tsid::tasks::TaskContactForceEquality::Vector6

Constructor & Destructor Documentation

TaskContactForceEquality()

tsid::tasks::TaskContactForceEquality::TaskContactForceEquality	(	const std::string &	name,
		RobotWrapper &	robot,
		const double	dt,
		contacts::ContactBase &	contact
	)

Member Function Documentation

compute() [1/2]

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

overridevirtual

Implements tsid::tasks::TaskBase.

compute() [2/2]

const ConstraintBase & tsid::tasks::TaskContactForceEquality::compute ( double  t, ConstRefVector  q, ConstRefVector  v, Data &  data, const std::vector< std::shared_ptr< ContactLevel > > *  contacts  )

overridevirtual

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.

Implements tsid::tasks::TaskContactForce.

dim()

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

overridevirtual

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

Implements tsid::tasks::TaskBase.

getAssociatedContact()

const contacts::ContactBase & tsid::tasks::TaskContactForceEquality::getAssociatedContact ( )

virtual

getAssociatedContactName()

const std::string & tsid::tasks::TaskContactForceEquality::getAssociatedContactName ( )

overridevirtual

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.

Implements tsid::tasks::TaskContactForce.

getConstraint()

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

overridevirtual

Implements tsid::tasks::TaskBase.

getExternalForce()

const TaskContactForceEquality::TrajectorySample & tsid::tasks::TaskContactForceEquality::getExternalForce

(

)

const

getLeakRate()

const double & tsid::tasks::TaskContactForceEquality::getLeakRate

(

)

const

getReference()

const TaskContactForceEquality::TrajectorySample & tsid::tasks::TaskContactForceEquality::getReference

(

)

const

Kd() [1/2]

const Vector & tsid::tasks::TaskContactForceEquality::Kd

(

)

const

Kd() [2/2]

void tsid::tasks::TaskContactForceEquality::Kd

(

ConstRefVector

Kp

)

Ki() [1/2]

const Vector & tsid::tasks::TaskContactForceEquality::Ki

(

)

const

Ki() [2/2]

void tsid::tasks::TaskContactForceEquality::Ki

(

ConstRefVector

Ki

)

Kp() [1/2]

const Vector & tsid::tasks::TaskContactForceEquality::Kp

(

)

const

Kp() [2/2]

void tsid::tasks::TaskContactForceEquality::Kp

(

ConstRefVector

Kp

)

setAssociatedContact()

void tsid::tasks::TaskContactForceEquality::setAssociatedContact

(

contacts::ContactBase &

contact

)

setExternalForce()

void tsid::tasks::TaskContactForceEquality::setExternalForce

(

TrajectorySample &

f_ext

)

setLeakRate()

void tsid::tasks::TaskContactForceEquality::setLeakRate

(

double

leak

)

setReference()

void tsid::tasks::TaskContactForceEquality::setReference

(

TrajectorySample &

ref

)

Member Data Documentation

Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskContactForceEquality::Index

m_constraint

ConstraintEquality tsid::tasks::TaskContactForceEquality::m_constraint

protected

m_contact

contacts::ContactBase* tsid::tasks::TaskContactForceEquality::m_contact

protected

m_contact_name

std::string tsid::tasks::TaskContactForceEquality::m_contact_name

protected

m_dt

double tsid::tasks::TaskContactForceEquality::m_dt

protected

m_fext

TrajectorySample tsid::tasks::TaskContactForceEquality::m_fext

protected

m_forceIntegralError

Vector tsid::tasks::TaskContactForceEquality::m_forceIntegralError

protected

m_Kd

Vector tsid::tasks::TaskContactForceEquality::m_Kd

protected

m_Ki

Vector tsid::tasks::TaskContactForceEquality::m_Ki

protected

m_Kp

Vector tsid::tasks::TaskContactForceEquality::m_Kp

protected

m_leak_rate

double tsid::tasks::TaskContactForceEquality::m_leak_rate

protected

m_ref

TrajectorySample tsid::tasks::TaskContactForceEquality::m_ref

protected

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

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