task-actuation-equality.hpp
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17 
18 #ifndef __invdyn_task_actuation_equality_hpp__
19 #define __invdyn_task_actuation_equality_hpp__
20 
23 
24 namespace tsid
25 {
26  namespace tasks
27  {
29  {
30  public:
31  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
32 
33  typedef math::Index Index;
38 
39  TaskActuationEquality(const std::string & name,
40  RobotWrapper & robot);
41 
42  int dim() const;
43 
44  const ConstraintBase & compute(const double t,
47  Data & data);
48 
49  const ConstraintBase & getConstraint() const;
50 
52  const Vector & getReference() const;
53 
55  const Vector & getWeightVector() const;
56 
57  const Vector & mask() const;
58  void mask(const Vector & mask);
59 
60  protected:
61  Vector m_mask;
62  VectorXi m_activeAxes;
63  Vector m_ref;
64  Vector m_weights;
65  ConstraintEquality m_constraint;
66  };
67  }
68 }
69 
70 #endif // ifndef __invdyn_task_actuation_equality_hpp__
std::size_t Index
Definition: fwd.hpp:55
Definition: constraint-equality.hpp:28
math::Vector Vector
Definition: task-actuation-equality.hpp:34
TaskActuationEquality(const std::string &name, RobotWrapper &robot)
Definition: task-actuation-equality.cpp:28
VectorXi m_activeAxes
Definition: task-actuation-equality.hpp:62
ConstraintEquality m_constraint
Definition: task-actuation-equality.hpp:65
const std::string & name() const
Definition: task-base.cpp:30
const ConstraintBase & getConstraint() const
Definition: task-actuation-equality.cpp:106
Vector m_weights
Definition: task-actuation-equality.hpp:64
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-actuation-equality.hpp:33
math::ConstraintEquality ConstraintEquality
Definition: task-actuation-equality.hpp:36
Definition: task-actuation.hpp:27
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
const Vector & mask() const
Definition: task-actuation-equality.cpp:39
void setReference(math::ConstRefVector ref)
Definition: task-actuation-equality.cpp:74
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
const Vector & getWeightVector() const
Definition: task-actuation-equality.cpp:101
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Vector m_mask
Definition: task-actuation-equality.hpp:61
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
Definition: task-actuation-equality.hpp:28
Vector m_ref
Definition: task-actuation-equality.hpp:63
int dim() const
Return the dimension of the task. should be overloaded in the child class.
Definition: task-actuation-equality.cpp:68
pinocchio::Data Data
Definition: task-actuation-equality.hpp:37
Definition: constraint-bound.hpp:26
void setWeightVector(math::ConstRefVector weights)
Definition: task-actuation-equality.cpp:89
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-actuation-equality.cpp:111
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
const Vector & getReference() const
Definition: task-actuation-equality.cpp:83
math::VectorXi VectorXi
Definition: task-actuation-equality.hpp:35
pinocchio::Data Data
Definition: inverse-dynamics-formulation-acc-force.cpp:29