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18 #ifndef __invdyn_task_com_equality_hpp__
19 #define __invdyn_task_com_equality_hpp__
34 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
91 #endif // ifndef __invdyn_task_com_equality_hpp__
const Vector3 & Kp()
Definition: task-com-equality.cpp:65
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-com-equality.cpp:136
Vector getAcceleration(ConstRefVector dv) const
Definition: task-com-equality.cpp:96
math::Vector3 Vector3
Definition: task-com-equality.hpp:39
math::ConstraintEquality ConstraintEquality
Definition: task-com-equality.hpp:40
const TrajectorySample & getReference() const
Definition: task-com-equality.cpp:86
Definition: trajectory-base.hpp:35
Definition: constraint-equality.hpp:28
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-com-equality.cpp:60
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
trajectories::TrajectorySample TrajectorySample
Definition: task-com-equality.hpp:37
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
const Vector & velocity() const
Definition: task-com-equality.cpp:116
Vector m_p_error_masked_vec
Definition: task-com-equality.hpp:77
Vector m_v_error_vec
Definition: task-com-equality.hpp:83
const Vector & position() const
Definition: task-com-equality.cpp:111
const Vector & getDesiredAcceleration() const
Definition: task-com-equality.cpp:91
const Vector3 & Kd()
Definition: task-com-equality.cpp:67
Vector m_p_com
Definition: task-com-equality.hpp:82
Vector3 m_drift
Definition: task-com-equality.hpp:80
Vector3 m_Kd
Definition: task-com-equality.hpp:75
Vector3 m_v_error
Definition: task-com-equality.hpp:76
TrajectorySample m_ref
Definition: task-com-equality.hpp:84
Vector3 m_a_des
Definition: task-com-equality.hpp:78
void setReference(const TrajectorySample &ref)
Definition: task-com-equality.cpp:81
math::Vector Vector
Definition: task-com-equality.hpp:38
std::size_t Index
Definition: fwd.hpp:55
Vector3 m_p_error
Definition: task-com-equality.hpp:76
Definition: task-com-equality.hpp:31
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-com-equality.hpp:36
Vector m_a_des_masked
Definition: task-com-equality.hpp:79
Vector m_p_error_vec
Definition: task-com-equality.hpp:83
Definition: task-motion.hpp:28
const typedef Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
pinocchio::Data Data
Definition: task-base.hpp:43
const ConstraintBase & getConstraint() const
Definition: task-com-equality.cpp:131
Definition: constraint-bound.hpp:26
const Vector & velocity_ref() const
Definition: task-com-equality.cpp:126
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
virtual void setMask(math::ConstRefVector mask)
Definition: task-com-equality.cpp:48
const std::string & name() const
Definition: task-base.cpp:30
Vector m_drift_masked
Definition: task-com-equality.hpp:81
ConstraintEquality m_constraint
Definition: task-com-equality.hpp:85
const Vector & position_error() const
Definition: task-com-equality.cpp:101
Eigen::Matrix< Scalar, 3, 1 > Vector3
Definition: fwd.hpp:42
Vector3 m_Kp
Definition: task-com-equality.hpp:74
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
Vector m_v_com
Definition: task-com-equality.hpp:82
Vector m_a_des_vec
Definition: task-com-equality.hpp:79
TaskComEquality(const std::string &name, RobotWrapper &robot)
Definition: task-com-equality.cpp:29
Vector m_v_error_masked_vec
Definition: task-com-equality.hpp:77
const Vector & velocity_error() const
Definition: task-com-equality.cpp:106
const Vector & position_ref() const
Definition: task-com-equality.cpp:121