task-se3-equality.hpp
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17 
18 #ifndef __invdyn_task_se3_equality_hpp__
19 #define __invdyn_task_se3_equality_hpp__
20 
24 
25 #include <pinocchio/multibody/model.hpp>
26 #include <pinocchio/multibody/data.hpp>
27 
28 namespace tsid
29 {
30  namespace tasks
31  {
32 
33  class TaskSE3Equality : public TaskMotion
34  {
35  public:
36  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
37 
38  typedef math::Index Index;
43  typedef pinocchio::Data::Matrix6x Matrix6x;
44  typedef pinocchio::Motion Motion;
46 
47  TaskSE3Equality(const std::string & name,
48  RobotWrapper & robot,
49  const std::string & frameName);
50 
51  int dim() const;
52 
53  const ConstraintBase & compute(const double t,
56  Data & data);
57 
58  const ConstraintBase & getConstraint() const;
59 
60  void setReference(TrajectorySample & ref);
61  void setReference(const SE3 & ref);
62  const TrajectorySample & getReference() const;
63 
68  const Vector & getDesiredAcceleration() const;
69 
74  Vector getAcceleration(ConstRefVector dv) const;
75 
76  virtual void setMask(math::ConstRefVector mask);
77 
82  const Vector & position_error() const;
83 
88  const Vector & velocity_error() const;
89 
90  const Vector & position() const;
91  const Vector & velocity() const;
92  const Vector & position_ref() const;
93  const Vector & velocity_ref() const;
94 
95  const Vector & Kp() const;
96  const Vector & Kd() const;
97  void Kp(ConstRefVector Kp);
98  void Kd(ConstRefVector Kp);
99 
100  Index frame_id() const;
101 
109  void useLocalFrame(bool local_frame);
110 
111  protected:
112 
113  std::string m_frame_name;
114  Index m_frame_id;
118  Vector m_p, m_v;
120  Motion m_v_ref, m_a_ref;
122  Vector m_Kp;
123  Vector m_Kd;
125  Motion m_drift;
127  Matrix6x m_J;
128  Matrix6x m_J_rotated;
129  ConstraintEquality m_constraint;
130  TrajectorySample m_ref;
132  };
133 
134  }
135 }
136 
137 #endif // ifndef __invdyn_task_se3_equality_hpp__
std::size_t Index
Definition: fwd.hpp:55
Definition: constraint-equality.hpp:28
Motion m_v_ref
Definition: task-se3-equality.hpp:120
Vector m_v
Definition: task-se3-equality.hpp:118
math::ConstraintEquality ConstraintEquality
Definition: task-se3-equality.hpp:41
const std::string & name() const
Definition: task-base.cpp:30
Vector m_p_error_vec
Definition: task-se3-equality.hpp:116
const Vector & Kp() const
Definition: task-se3-equality.cpp:81
pinocchio::SE3 SE3
Definition: trajectory-base.hpp:34
const TrajectorySample & getReference() const
Definition: task-se3-equality.cpp:121
ConstraintEquality m_constraint
Definition: task-se3-equality.hpp:129
Motion m_a_ref
Definition: task-se3-equality.hpp:120
TaskSE3Equality(const std::string &name, RobotWrapper &robot, const std::string &frameName)
Definition: task-se3-equality.cpp:31
void useLocalFrame(bool local_frame)
Specifies if the jacobian and desired acceloration should be expressed in the local frame or the loca...
Definition: task-se3-equality.cpp:176
Definition: task-se3-equality.hpp:33
Vector m_v_ref_vec
Definition: task-se3-equality.hpp:119
TrajectorySample m_ref
Definition: task-se3-equality.hpp:130
math::Vector Vector
Definition: task-se3-equality.hpp:40
Motion m_p_error
Definition: task-se3-equality.hpp:115
Index m_frame_id
Definition: task-se3-equality.hpp:114
Definition: task-motion.hpp:28
const Vector & getDesiredAcceleration() const
Definition: task-se3-equality.cpp:156
Vector m_a_des
Definition: task-se3-equality.hpp:124
pinocchio::SE3 SE3
Definition: task-se3-equality.hpp:45
SE3 m_wMl
Definition: task-se3-equality.hpp:121
pinocchio::Data::Matrix6x Matrix6x
Definition: task-se3-equality.hpp:43
Matrix6x m_J
Definition: task-se3-equality.hpp:127
const Vector & position() const
Definition: task-se3-equality.cpp:136
Definition: trajectory-base.hpp:35
const Vector & velocity_ref() const
Definition: task-se3-equality.cpp:151
pinocchio::Motion Motion
Definition: task-se3-equality.hpp:44
Motion m_v_error
Definition: task-se3-equality.hpp:115
Vector m_Kp
Definition: task-se3-equality.hpp:122
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
Vector m_a_des_masked
Definition: task-se3-equality.hpp:124
virtual void setMask(math::ConstRefVector mask)
Definition: task-se3-equality.cpp:65
void setReference(TrajectorySample &ref)
Definition: task-se3-equality.cpp:97
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
std::string m_frame_name
Definition: task-se3-equality.hpp:113
const Vector & velocity_error() const
Definition: task-se3-equality.cpp:131
pinocchio::Data Data
Definition: task-se3-equality.hpp:42
const Vector & Kd() const
Definition: task-se3-equality.cpp:83
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Vector m_p_ref
Definition: task-se3-equality.hpp:119
Vector m_p
Definition: task-se3-equality.hpp:118
const Vector & position_error() const
Definition: task-se3-equality.cpp:126
SE3 m_M_ref
Definition: task-se3-equality.hpp:121
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
trajectories::TrajectorySample TrajectorySample
Definition: task-se3-equality.hpp:39
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-se3-equality.hpp:38
Index frame_id() const
Definition: task-se3-equality.cpp:166
Motion m_drift
Definition: task-se3-equality.hpp:125
Vector m_v_error_masked_vec
Definition: task-se3-equality.hpp:117
bool m_local_frame
Definition: task-se3-equality.hpp:131
Vector m_p_error_masked_vec
Definition: task-se3-equality.hpp:117
const Vector & velocity() const
Definition: task-se3-equality.cpp:141
const Vector & position_ref() const
Definition: task-se3-equality.cpp:146
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-se3-equality.cpp:181
Vector m_drift_masked
Definition: task-se3-equality.hpp:126
Definition: constraint-bound.hpp:26
Vector getAcceleration(ConstRefVector dv) const
Definition: task-se3-equality.cpp:161
Vector m_Kd
Definition: task-se3-equality.hpp:123
Vector m_v_error_vec
Definition: task-se3-equality.hpp:116
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
int dim() const
Return the dimension of the task. should be overloaded in the child class.
Definition: task-se3-equality.cpp:76
const ConstraintBase & getConstraint() const
Definition: task-se3-equality.cpp:171
Matrix6x m_J_rotated
Definition: task-se3-equality.hpp:128
pinocchio::Data Data
Definition: inverse-dynamics-formulation-acc-force.cpp:29