tsid::tasks::TaskJointBounds Class Reference

#include <tsid/tasks/task-joint-bounds.hpp>

Inheritance diagram for tsid::tasks::TaskJointBounds:

Collaboration diagram for tsid::tasks::TaskJointBounds:

Public Types
typedef math::ConstraintBound	ConstraintBound
typedef pinocchio::Data	Data
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
	TaskJointBounds (const std::string &name, RobotWrapper &robot, double dt)
int	dim () const override
	Return the dimension of the task. \info should be overloaded in the child class. More...
const ConstraintBase &	compute (const double t, ConstRefVector q, ConstRefVector v, Data &data) override
const ConstraintBase &	getConstraint () const override
void	setTimeStep (double dt)
void	setVelocityBounds (ConstRefVector lower, ConstRefVector upper)
void	setAccelerationBounds (ConstRefVector lower, ConstRefVector upper)
const Vector &	getAccelerationLowerBounds () const
const Vector &	getAccelerationUpperBounds () const
const Vector &	getVelocityLowerBounds () const
const Vector &	getVelocityUpperBounds () const
virtual void	setMask (math::ConstRefVector mask) override
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 Vector	getAcceleration (ConstRefVector dv) const
virtual const Vector &	position_error () const
virtual const Vector &	velocity_error () const
virtual const Vector &	position () const
virtual const Vector &	velocity () const
virtual const Vector &	position_ref () const
virtual const Vector &	velocity_ref () const
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::Vector	Vector
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_v_lb
Vector	m_v_ub
Vector	m_a_lb
Vector	m_a_ub
Vector	m_ddq_max_due_to_vel
Vector	m_ddq_min_due_to_vel
ConstraintBound	m_constraint
double	m_dt
int	m_nv
int	m_na
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

ConstraintBound

typedef math::ConstraintBound tsid::tasks::TaskJointBounds::ConstraintBound

Data

typedef pinocchio::Data tsid::tasks::TaskJointBounds::Data

Constructor & Destructor Documentation

TaskJointBounds()

tsid::tasks::TaskJointBounds::TaskJointBounds	(	const std::string &	name,
		RobotWrapper &	robot,
		double	dt
	)

Member Function Documentation

compute()

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

overridevirtual

Implements tsid::tasks::TaskBase.

dim()

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

overridevirtual

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

Implements tsid::tasks::TaskBase.

getAccelerationLowerBounds()

const Vector & tsid::tasks::TaskJointBounds::getAccelerationLowerBounds

(

)

const

getAccelerationUpperBounds()

const Vector & tsid::tasks::TaskJointBounds::getAccelerationUpperBounds

(

)

const

getConstraint()

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

overridevirtual

Implements tsid::tasks::TaskBase.

getVelocityLowerBounds()

const Vector & tsid::tasks::TaskJointBounds::getVelocityLowerBounds

(

)

const

getVelocityUpperBounds()

const Vector & tsid::tasks::TaskJointBounds::getVelocityUpperBounds

(

)

const

setAccelerationBounds()

void tsid::tasks::TaskJointBounds::setAccelerationBounds	(	ConstRefVector	lower,
		ConstRefVector	upper
	)

setMask()

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

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

setTimeStep()

void tsid::tasks::TaskJointBounds::setTimeStep

(

double

dt

)

setVelocityBounds()

void tsid::tasks::TaskJointBounds::setVelocityBounds	(	ConstRefVector	lower,
		ConstRefVector	upper
	)

Member Data Documentation

m_a_lb

Vector tsid::tasks::TaskJointBounds::m_a_lb

protected

m_a_ub

Vector tsid::tasks::TaskJointBounds::m_a_ub

protected

m_constraint

ConstraintBound tsid::tasks::TaskJointBounds::m_constraint

protected

m_ddq_max_due_to_vel

Vector tsid::tasks::TaskJointBounds::m_ddq_max_due_to_vel

protected

m_ddq_min_due_to_vel

Vector tsid::tasks::TaskJointBounds::m_ddq_min_due_to_vel

protected

m_dt

double tsid::tasks::TaskJointBounds::m_dt

protected

m_na

int tsid::tasks::TaskJointBounds::m_na

protected

m_nv

int tsid::tasks::TaskJointBounds::m_nv

protected

m_v_lb

Vector tsid::tasks::TaskJointBounds::m_v_lb

protected

m_v_ub

Vector tsid::tasks::TaskJointBounds::m_v_ub

protected

Vector

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector tsid::tasks::TaskJointBounds::Vector

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

• include/tsid/tasks/task-joint-bounds.hpp
• src/tasks/task-joint-bounds.cpp