task-actuation-equality.hpp
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2 // Copyright (c) 2021 CNRS INRIA LORIA
3 //
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16 //
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:
66  };
67  }
68 }
69 
70 #endif // ifndef __invdyn_task_actuation_equality_hpp__
tsid::tasks::TaskActuationEquality::m_ref
Vector m_ref
Definition: task-actuation-equality.hpp:63
tsid::tasks::TaskActuationEquality::ConstraintEquality
math::ConstraintEquality ConstraintEquality
Definition: task-actuation-equality.hpp:36
tsid::math::ConstraintEquality
Definition: constraint-equality.hpp:28
Data
pinocchio::Data Data
Definition: inverse-dynamics-formulation-acc-force.cpp:29
tsid::math::ConstraintBase
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
tsid::tasks::TaskActuationEquality::mask
const Vector & mask() const
Definition: task-actuation-equality.cpp:39
tsid::math::Vector
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
tsid::tasks::TaskActuationEquality::VectorXi
math::VectorXi VectorXi
Definition: task-actuation-equality.hpp:35
tsid::tasks::TaskActuationEquality::m_mask
Vector m_mask
Definition: task-actuation-equality.hpp:61
tsid::tasks::TaskActuationEquality::setWeightVector
void setWeightVector(math::ConstRefVector weights)
Definition: task-actuation-equality.cpp:89
constraint-equality.hpp
tsid::math::Index
std::size_t Index
Definition: fwd.hpp:55
tsid::math::VectorXi
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
tsid::tasks::TaskActuationEquality::Data
pinocchio::Data Data
Definition: task-actuation-equality.hpp:37
tsid::tasks::TaskActuationEquality::m_weights
Vector m_weights
Definition: task-actuation-equality.hpp:64
tsid::tasks::TaskActuationEquality::getConstraint
const ConstraintBase & getConstraint() const
Definition: task-actuation-equality.cpp:106
tsid::tasks::TaskActuationEquality::Index
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-actuation-equality.hpp:33
tsid::tasks::TaskActuationEquality::m_constraint
ConstraintEquality m_constraint
Definition: task-actuation-equality.hpp:65
tsid::tasks::TaskActuationEquality::getWeightVector
const Vector & getWeightVector() const
Definition: task-actuation-equality.cpp:101
tsid::math::ConstRefVector
const typedef Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
tsid
Definition: constraint-bound.hpp:26
tsid::tasks::TaskActuationEquality::compute
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-actuation-equality.cpp:111
tsid::tasks::TaskActuation
Definition: task-actuation.hpp:27
tsid::robots::RobotWrapper
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
tsid::tasks::TaskActuationEquality
Definition: task-actuation-equality.hpp:28
tsid::tasks::TaskActuationEquality::dim
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-actuation-equality.cpp:68
tsid::tasks::TaskBase::name
const std::string & name() const
Definition: task-base.cpp:30
task-actuation.hpp
tsid::tasks::TaskActuationEquality::TaskActuationEquality
TaskActuationEquality(const std::string &name, RobotWrapper &robot)
Definition: task-actuation-equality.cpp:28
tsid::tasks::TaskBase::ConstRefVector
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
tsid::tasks::TaskActuationEquality::Vector
math::Vector Vector
Definition: task-actuation-equality.hpp:34
tsid::tasks::TaskActuationEquality::m_activeAxes
VectorXi m_activeAxes
Definition: task-actuation-equality.hpp:62
tsid::tasks::TaskActuationEquality::setReference
void setReference(math::ConstRefVector ref)
Definition: task-actuation-equality.cpp:74
tsid::tasks::TaskActuationEquality::getReference
const Vector & getReference() const
Definition: task-actuation-equality.cpp:83