tsid::tasks::TaskMotion Class Reference

#include <tsid/tasks/task-motion.hpp>

Inheritance diagram for tsid::tasks::TaskMotion:

Collaboration diagram for tsid::tasks::TaskMotion:

Public Types
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
	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 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)
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

Public Attributes
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_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

TrajectorySample

typedef trajectories::TrajectorySample tsid::tasks::TaskMotion::TrajectorySample

Constructor & Destructor Documentation

TaskMotion()

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

Member Function Documentation

getAcceleration()

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

virtual

Reimplemented in tsid::tasks::TaskTwoFramesEquality, tsid::tasks::TaskSE3Equality, tsid::tasks::TaskJointPosture, tsid::tasks::TaskComEquality, and tsid::tasks::TaskCapturePointInequality.

getDesiredAcceleration()

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

virtual

Reimplemented in tsid::tasks::TaskTwoFramesEquality, tsid::tasks::TaskSE3Equality, tsid::tasks::TaskJointPosture, and tsid::tasks::TaskComEquality.

getMask()

const Vector & tsid::tasks::TaskMotion::getMask ( ) const

virtual

getReference()

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

virtual

Reimplemented in tsid::tasks::TaskSE3Equality, tsid::tasks::TaskJointPosture, tsid::tasks::TaskComEquality, and tsid::tasks::TaskAMEquality.

hasMask()

bool tsid::tasks::TaskMotion::hasMask ( )

virtual

position()

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

virtual

Reimplemented in tsid::tasks::TaskSE3Equality, tsid::tasks::TaskJointPosture, tsid::tasks::TaskComEquality, and tsid::tasks::TaskCapturePointInequality.

position_error()

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

virtual

Reimplemented in tsid::tasks::TaskTwoFramesEquality, tsid::tasks::TaskSE3Equality, tsid::tasks::TaskJointPosture, and tsid::tasks::TaskComEquality.

position_ref()

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

virtual

Reimplemented in tsid::tasks::TaskSE3Equality, tsid::tasks::TaskJointPosture, and tsid::tasks::TaskComEquality.

setMask()

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

virtual

Reimplemented in tsid::tasks::TaskTwoFramesEquality, tsid::tasks::TaskSE3Equality, tsid::tasks::TaskJointPosVelAccBounds, tsid::tasks::TaskJointPosture, tsid::tasks::TaskJointBounds, and tsid::tasks::TaskComEquality.

velocity()

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

virtual

Reimplemented in tsid::tasks::TaskSE3Equality, tsid::tasks::TaskJointPosture, and tsid::tasks::TaskComEquality.

velocity_error()

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

virtual

Reimplemented in tsid::tasks::TaskTwoFramesEquality, tsid::tasks::TaskSE3Equality, tsid::tasks::TaskJointPosture, and tsid::tasks::TaskComEquality.

velocity_ref()

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

virtual

Reimplemented in tsid::tasks::TaskSE3Equality, tsid::tasks::TaskJointPosture, and tsid::tasks::TaskComEquality.

Member Data Documentation

m_dummy

Vector tsid::tasks::TaskMotion::m_dummy

protected

m_mask

Vector tsid::tasks::TaskMotion::m_mask

protected

TrajectorySample_dummy

trajectories::TrajectorySample tsid::tasks::TaskMotion::TrajectorySample_dummy

protected

Vector

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector tsid::tasks::TaskMotion::Vector

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

• include/tsid/tasks/task-motion.hpp
• src/tasks/task-motion.cpp