task-angular-momentum-equality.hpp
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17 
18 #ifndef __invdyn_task_am_equality_hpp__
19 #define __invdyn_task_am_equality_hpp__
20 
21 #include "tsid/math/fwd.hpp"
25 
26 #include <pinocchio/multibody/model.hpp>
27 #include <pinocchio/multibody/data.hpp>
28 
29 namespace tsid
30 {
31  namespace tasks
32  {
33 
34  class TaskAMEquality : public TaskMotion
35  {
36  public:
37  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
38 
39  typedef math::Index Index;
44  typedef pinocchio::Data::Matrix6x Matrix6x;
45 
46 
47  TaskAMEquality(const std::string & name,
48  RobotWrapper & robot);
49 
50  int dim() const;
51 
52  const ConstraintBase & compute(const double t,
55  Data & data);
56 
57  const ConstraintBase & getConstraint() const;
58 
59  void setReference(const TrajectorySample & ref);
60  const TrajectorySample & getReference() const;
61 
62  const Vector3 & getDesiredMomentumDerivative() const;
64 
65  const Vector3 & momentum_error() const;
66  const Vector3 & momentum() const;
67  const Vector & momentum_ref() const;
68  const Vector & dmomentum_ref() const;
69 
70  const Vector3 & Kp();
71  const Vector3 & Kd();
72  void Kp(ConstRefVector Kp);
73  void Kd(ConstRefVector Kp);
74 
75  protected:
80 
85  };
86 
87  }
88 }
89 
90 #endif // ifndef __invdyn_task_am_equality_hpp__
tsid::tasks::TaskAMEquality::dmomentum_ref
const Vector & dmomentum_ref() const
Definition: task-angular-momentum-equality.cpp:102
tsid::trajectories::TrajectorySample
Definition: trajectory-base.hpp:35
tsid::tasks::TaskAMEquality::m_constraint
ConstraintEquality m_constraint
Definition: task-angular-momentum-equality.hpp:84
tsid::tasks::TaskAMEquality::m_ref
TrajectorySample m_ref
Definition: task-angular-momentum-equality.hpp:83
tsid::math::ConstraintEquality
Definition: constraint-equality.hpp:28
tsid::tasks::TaskAMEquality::getDesiredMomentumDerivative
const Vector3 & getDesiredMomentumDerivative() const
Definition: task-angular-momentum-equality.cpp:78
tsid::tasks::TaskAMEquality::Index
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-angular-momentum-equality.hpp:39
tsid::tasks::TaskAMEquality::momentum
const Vector3 & momentum() const
Definition: task-angular-momentum-equality.cpp:93
task-motion.hpp
tsid::math::ConstraintBase
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
tsid::tasks::TaskAMEquality::momentum_ref
const Vector & momentum_ref() const
Definition: task-angular-momentum-equality.cpp:97
tsid::tasks::TaskAMEquality::m_drift
Vector3 m_drift
Definition: task-angular-momentum-equality.hpp:81
tsid::math::Vector
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
tsid::tasks::TaskAMEquality::m_L_error
Vector3 m_L_error
Definition: task-angular-momentum-equality.hpp:78
tsid::tasks::TaskAMEquality::getReference
const TrajectorySample & getReference() const
Definition: task-angular-momentum-equality.cpp:73
tsid::tasks::TaskAMEquality::m_dL_error
Vector3 m_dL_error
Definition: task-angular-momentum-equality.hpp:78
tsid::tasks::TaskAMEquality::m_L
Vector3 m_L
Definition: task-angular-momentum-equality.hpp:82
tsid::tasks::TaskAMEquality::getdMomentum
Vector3 getdMomentum(ConstRefVector dv) const
Definition: task-angular-momentum-equality.cpp:83
constraint-equality.hpp
tsid::tasks::TaskAMEquality::Vector
math::Vector Vector
Definition: task-angular-momentum-equality.hpp:41
tsid::tasks::TaskAMEquality::TaskAMEquality
TaskAMEquality(const std::string &name, RobotWrapper &robot)
Definition: task-angular-momentum-equality.cpp:31
trajectory-base.hpp
tsid::tasks::TaskAMEquality::getConstraint
const ConstraintBase & getConstraint() const
Definition: task-angular-momentum-equality.cpp:107
tsid::tasks::TaskAMEquality::ConstraintEquality
math::ConstraintEquality ConstraintEquality
Definition: task-angular-momentum-equality.hpp:43
tsid::tasks::TaskAMEquality::m_Kd
Vector3 m_Kd
Definition: task-angular-momentum-equality.hpp:77
tsid::tasks::TaskAMEquality::Kp
const Vector3 & Kp()
Definition: task-angular-momentum-equality.cpp:52
tsid::math::Index
std::size_t Index
Definition: fwd.hpp:55
tsid::tasks::TaskAMEquality::momentum_error
const Vector3 & momentum_error() const
Definition: task-angular-momentum-equality.cpp:88
tsid::tasks::TaskAMEquality::m_Kp
Vector3 m_Kp
Definition: task-angular-momentum-equality.hpp:76
fwd.hpp
tsid::tasks::TaskAMEquality::compute
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-angular-momentum-equality.cpp:112
tsid::tasks::TaskAMEquality
Definition: task-angular-momentum-equality.hpp:34
tsid::tasks::TaskAMEquality::Matrix6x
pinocchio::Data::Matrix6x Matrix6x
Definition: task-angular-momentum-equality.hpp:44
tsid::tasks::TaskAMEquality::dim
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-angular-momentum-equality.cpp:46
tsid::tasks::TaskMotion
Definition: task-motion.hpp:28
tsid::tasks::TaskAMEquality::Kd
const Vector3 & Kd()
Definition: task-angular-momentum-equality.cpp:54
tsid::tasks::TaskAMEquality::setReference
void setReference(const TrajectorySample &ref)
Definition: task-angular-momentum-equality.cpp:68
tsid::tasks::TaskBase::Data
pinocchio::Data Data
Definition: task-base.hpp:43
tsid
Definition: constraint-bound.hpp:26
tsid::tasks::TaskAMEquality::m_dL
Vector3 m_dL
Definition: task-angular-momentum-equality.hpp:82
tsid::robots::RobotWrapper
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
tsid::tasks::TaskBase::name
const std::string & name() const
Definition: task-base.cpp:30
tsid::tasks::TaskAMEquality::Vector3
math::Vector3 Vector3
Definition: task-angular-momentum-equality.hpp:42
tsid::math::Vector3
Eigen::Matrix< Scalar, 3, 1 > Vector3
Definition: fwd.hpp:42
tsid::tasks::TaskBase::ConstRefVector
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
tsid::tasks::TaskAMEquality::TrajectorySample
trajectories::TrajectorySample TrajectorySample
Definition: task-angular-momentum-equality.hpp:40
tsid::tasks::TaskAMEquality::m_dL_des
Vector3 m_dL_des
Definition: task-angular-momentum-equality.hpp:79