tsid Namespace Reference

Namespaces
	contacts
	math
	python
	robots
	solvers
	tasks
	trajectories

Classes
struct	ContactLevel
class	ContactTransitionInfo
class	InverseDynamicsFormulationAccForce
struct	TaskLevel
struct	TaskLevelForce
struct	MeasuredForceLevel
class	InverseDynamicsFormulationBase
	Wrapper for a robot based on pinocchio. More...

Functions
template<typename T >
std::string	toString (const T &v)
template<typename T >
std::string	toString (const std::vector< T > &v, const std::string separator=", ")
template<typename T , int n>
std::string	toString (const Eigen::MatrixBase< T > &v, const std::string separator=", ")

Detailed Description

This class has been implemented following : Andrea del Prete. Joint Position and Velocity Bounds in Discrete-Time Acceleration/Torque Control of Robot Manipulators. IEEE Robotics and Automation Letters, IEEE 2018, 3 (1), pp.281-288.￿10.1109/LRA.2017.2738321￿. hal-01356989v3 And https://github.com/andreadelprete/pinocchio_inv_dyn/blob/master/python/pinocchio_inv_dyn/acc_bounds_util.py

This class has been implemented following : Ramos, O. E., Mansard, N., & Soueres, P. (2014). Whole-body Motion Integrating the Capture Point in the Operational Space Inverse Dynamics Control. In IEEE-RAS International Conference on Humanoid Robots (Humanoids).

Function Documentation

toString() [1/3]

template<typename T , int n>

std::string tsid::toString	(	const Eigen::MatrixBase< T > &	v,
		const std::string	separator = ", "
	)

toString() [2/3]

template<typename T >

std::string tsid::toString	(	const std::vector< T > &	v,
		const std::string	separator = ", "
	)

toString() [3/3]

template<typename T >

std::string tsid::toString

(

const T &

v

)