task-angular-momentum-equality.hpp
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17 
18 #ifndef __invdyn_task_am_equality_hpp__
19 #define __invdyn_task_am_equality_hpp__
20 
21 #include "tsid/math/fwd.hpp"
25 
26 #include <pinocchio/multibody/model.hpp>
27 #include <pinocchio/multibody/data.hpp>
28 
29 namespace tsid
30 {
31  namespace tasks
32  {
33 
34  class TaskAMEquality : public TaskMotion
35  {
36  public:
37  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
38 
39  typedef math::Index Index;
44  typedef pinocchio::Data::Matrix6x Matrix6x;
45 
46 
47  TaskAMEquality(const std::string & name,
48  RobotWrapper & robot);
49 
50  int dim() const;
51 
52  const ConstraintBase & compute(const double t,
55  Data & data);
56 
57  const ConstraintBase & getConstraint() const;
58 
59  void setReference(const TrajectorySample & ref);
60  const TrajectorySample & getReference() const;
61 
62  const Vector3 & getDesiredMomentumDerivative() const;
63  Vector3 getdMomentum(ConstRefVector dv) const;
64 
65  const Vector3 & momentum_error() const;
66  const Vector3 & momentum() const;
67  const Vector & momentum_ref() const;
68  const Vector & dmomentum_ref() const;
69 
70  const Vector3 & Kp();
71  const Vector3 & Kd();
72  void Kp(ConstRefVector Kp);
73  void Kd(ConstRefVector Kp);
74 
75  protected:
76  Vector3 m_Kp;
77  Vector3 m_Kd;
79  Vector3 m_dL_des;
80 
81  Vector3 m_drift;
82  Vector3 m_L, m_dL;
83  TrajectorySample m_ref;
84  ConstraintEquality m_constraint;
85  };
86 
87  }
88 }
89 
90 #endif // ifndef __invdyn_task_am_equality_hpp__
std::size_t Index
Definition: fwd.hpp:55
Definition: constraint-equality.hpp:28
Vector3 m_Kd
Definition: task-angular-momentum-equality.hpp:77
Vector3 m_drift
Definition: task-angular-momentum-equality.hpp:81
const ConstraintBase & getConstraint() const
Definition: task-angular-momentum-equality.cpp:107
const Vector3 & Kp()
Definition: task-angular-momentum-equality.cpp:52
const Vector & dmomentum_ref() const
Definition: task-angular-momentum-equality.cpp:102
const TrajectorySample & getReference() const
Definition: task-angular-momentum-equality.cpp:73
pinocchio::Data Data
Definition: task-base.hpp:43
Vector3 m_L
Definition: task-angular-momentum-equality.hpp:82
Vector3 m_dL_error
Definition: task-angular-momentum-equality.hpp:78
trajectories::TrajectorySample TrajectorySample
Definition: task-angular-momentum-equality.hpp:40
Definition: task-angular-momentum-equality.hpp:34
const std::string & name() const
Definition: task-base.cpp:30
Vector3 m_L_error
Definition: task-angular-momentum-equality.hpp:78
TaskAMEquality(const std::string &name, RobotWrapper &robot)
Definition: task-angular-momentum-equality.cpp:31
Vector3 m_dL
Definition: task-angular-momentum-equality.hpp:82
int dim() const
Return the dimension of the task. should be overloaded in the child class.
Definition: task-angular-momentum-equality.cpp:46
const Vector3 & momentum() const
Definition: task-angular-momentum-equality.cpp:93
Vector3 m_Kp
Definition: task-angular-momentum-equality.hpp:76
Vector3 m_dL_des
Definition: task-angular-momentum-equality.hpp:79
Definition: task-motion.hpp:28
Eigen::Matrix< Scalar, 3, 1 > Vector3
Definition: fwd.hpp:42
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-angular-momentum-equality.hpp:39
Definition: trajectory-base.hpp:35
const Vector3 & Kd()
Definition: task-angular-momentum-equality.cpp:54
ConstraintEquality m_constraint
Definition: task-angular-momentum-equality.hpp:84
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
const Vector3 & momentum_error() const
Definition: task-angular-momentum-equality.cpp:88
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Vector3 getdMomentum(ConstRefVector dv) const
Definition: task-angular-momentum-equality.cpp:83
TrajectorySample m_ref
Definition: task-angular-momentum-equality.hpp:83
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
void setReference(const TrajectorySample &ref)
Definition: task-angular-momentum-equality.cpp:68
math::ConstraintEquality ConstraintEquality
Definition: task-angular-momentum-equality.hpp:43
pinocchio::Data::Matrix6x Matrix6x
Definition: task-angular-momentum-equality.hpp:44
math::Vector3 Vector3
Definition: task-angular-momentum-equality.hpp:42
const Vector & momentum_ref() const
Definition: task-angular-momentum-equality.cpp:97
Definition: constraint-bound.hpp:26
const Vector3 & getDesiredMomentumDerivative() const
Definition: task-angular-momentum-equality.cpp:78
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-angular-momentum-equality.cpp:112
math::Vector Vector
Definition: task-angular-momentum-equality.hpp:41