#include <tsid/tasks/task-contact-force.hpp>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | TaskContactForce (const std::string &name, RobotWrapper &robot) |
virtual const ConstraintBase & | compute (const double t, ConstRefVector q, ConstRefVector v, Data &data, const std::vector< std::shared_ptr< ContactLevel > > *contacts)=0 |
virtual const std::string & | getAssociatedContactName ()=0 |
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TaskBase (const std::string &name, RobotWrapper &robot) | |
const std::string & | name () const |
void | name (const std::string &name) |
virtual int | dim () const =0 |
Return the dimension of the task. should be overloaded in the child class. More... | |
virtual const ConstraintBase & | compute (const double t, ConstRefVector q, ConstRefVector v, Data &data)=0 |
virtual const ConstraintBase & | getConstraint () const =0 |
Additional Inherited Members | |
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typedef math::ConstRefVector | ConstRefVector |
typedef pinocchio::Data | Data |
typedef robots::RobotWrapper | RobotWrapper |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase | ConstraintBase |
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std::string | m_name |
RobotWrapper & | m_robot |
Reference on the robot model. More... | |
tsid::tasks::TaskContactForce::TaskContactForce | ( | const std::string & | name, |
RobotWrapper & | robot | ||
) |
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pure virtual |
Contact force tasks have an additional compute method that takes as extra input argument the list of active contacts. This can be needed for force tasks that involve all contacts, such as the CoP task.
Implemented in tsid::tasks::TaskContactForceEquality, and tsid::tasks::TaskCopEquality.
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pure virtual |
Return the name of the contact associated to this task if this task is associated to a specific contact. If this task is associated to multiple contact forces (all of them), returns an empty string.
Implemented in tsid::tasks::TaskContactForceEquality, and tsid::tasks::TaskCopEquality.