tsid  1.8.0
Efficient Task Space Inverse Dynamics for Multi-body Systems based on Pinocchio
Public Member Functions | Static Public Member Functions | List of all members
tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames > Struct Template Reference

#include <tsid/bindings/python/tasks/task-two-frames-equality.hpp>

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Public Member Functions

template<class PyClass >
void visit (PyClass &cl) const
 

Static Public Member Functions

static std::string name (TaskFrames &self)
 
static math::ConstraintEquality compute (TaskFrames &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)
 
static math::ConstraintEquality getConstraint (const TaskFrames &self)
 
static const Eigen::VectorXd & getDesiredAcceleration (const TaskFrames &self)
 
static Eigen::VectorXd getAcceleration (TaskFrames &self, const Eigen::VectorXd dv)
 
static const Eigen::VectorXd & position_error (const TaskFrames &self)
 
static const Eigen::VectorXd & velocity_error (const TaskFrames &self)
 
static const Eigen::VectorXd & Kp (TaskFrames &self)
 
static const Eigen::VectorXd & Kd (TaskFrames &self)
 
static void setKp (TaskFrames &self, const ::Eigen::VectorXd Kp)
 
static void setKd (TaskFrames &self, const ::Eigen::VectorXd Kv)
 
static void getMask (TaskFrames &self)
 
static void setMask (TaskFrames &self, const ::Eigen::VectorXd mask)
 
static Eigen::VectorXd frame_id1 (TaskFrames &self)
 
static Eigen::VectorXd frame_id2 (TaskFrames &self)
 
static void expose (const std::string &class_name)
 

Member Function Documentation

◆ compute()

template<typename TaskFrames >
static math::ConstraintEquality tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::compute ( TaskFrames &  self,
const double  t,
const Eigen::VectorXd &  q,
const Eigen::VectorXd &  v,
pinocchio::Data &  data 
)
inlinestatic

◆ expose()

template<typename TaskFrames >
static void tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::expose ( const std::string &  class_name)
inlinestatic

◆ frame_id1()

template<typename TaskFrames >
static Eigen::VectorXd tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::frame_id1 ( TaskFrames &  self)
inlinestatic

◆ frame_id2()

template<typename TaskFrames >
static Eigen::VectorXd tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::frame_id2 ( TaskFrames &  self)
inlinestatic

◆ getAcceleration()

template<typename TaskFrames >
static Eigen::VectorXd tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::getAcceleration ( TaskFrames &  self,
const Eigen::VectorXd  dv 
)
inlinestatic

◆ getConstraint()

template<typename TaskFrames >
static math::ConstraintEquality tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::getConstraint ( const TaskFrames &  self)
inlinestatic

◆ getDesiredAcceleration()

template<typename TaskFrames >
static const Eigen::VectorXd& tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::getDesiredAcceleration ( const TaskFrames &  self)
inlinestatic

◆ getMask()

template<typename TaskFrames >
static void tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::getMask ( TaskFrames &  self)
inlinestatic

◆ Kd()

template<typename TaskFrames >
static const Eigen::VectorXd& tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::Kd ( TaskFrames &  self)
inlinestatic

◆ Kp()

template<typename TaskFrames >
static const Eigen::VectorXd& tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::Kp ( TaskFrames &  self)
inlinestatic

◆ name()

template<typename TaskFrames >
static std::string tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::name ( TaskFrames &  self)
inlinestatic

◆ position_error()

template<typename TaskFrames >
static const Eigen::VectorXd& tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::position_error ( const TaskFrames &  self)
inlinestatic

◆ setKd()

template<typename TaskFrames >
static void tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::setKd ( TaskFrames &  self,
const ::Eigen::VectorXd  Kv 
)
inlinestatic

◆ setKp()

template<typename TaskFrames >
static void tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::setKp ( TaskFrames &  self,
const ::Eigen::VectorXd  Kp 
)
inlinestatic

◆ setMask()

template<typename TaskFrames >
static void tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::setMask ( TaskFrames &  self,
const ::Eigen::VectorXd  mask 
)
inlinestatic

◆ velocity_error()

template<typename TaskFrames >
static const Eigen::VectorXd& tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::velocity_error ( const TaskFrames &  self)
inlinestatic

◆ visit()

template<typename TaskFrames >
template<class PyClass >
void tsid::python::TaskTwoFramesEqualityPythonVisitor< TaskFrames >::visit ( PyClass &  cl) const
inline
The documentation for this struct was generated from the following file: