tsid Namespace Reference

Namespaces

 contacts
 
 math
 
 python
 
 robots
 
 solvers
 
 tasks
 
 trajectories
 

Classes

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

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 >
std::string tsid::toString ( const T &  v)

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