#include <formulation.hpp>

Inheritance diagram for tsid::python::InvDynPythonVisitor< T >:

Public Member Functions
template<class PyClass >
void	visit (PyClass &cl) const

Static Public Member Functions
static bool	addActuationTask_Bounds (T &self, tasks::TaskActuationBounds &task, double weight, unsigned int priorityLevel, double transition_duration)

static bool	addForceTask_COP (T &self, tasks::TaskCopEquality &task, double weight, unsigned int priorityLevel, double transition_duration)

static bool	addMotionTask_AM (T &self, tasks::TaskAMEquality &task, double weight, unsigned int priorityLevel, double transition_duration)

static bool	addMotionTask_COM (T &self, tasks::TaskComEquality &task, double weight, unsigned int priorityLevel, double transition_duration)

static bool	addMotionTask_Joint (T &self, tasks::TaskJointPosture &task, double weight, unsigned int priorityLevel, double transition_duration)

static bool	addMotionTask_JointBounds (T &self, tasks::TaskJointBounds &task, double weight, unsigned int priorityLevel, double transition_duration)

static bool	addMotionTask_JointPosVelAccBounds (T &self, tasks::TaskJointPosVelAccBounds &task, double weight, unsigned int priorityLevel, double transition_duration)

static bool	addMotionTask_SE3 (T &self, tasks::TaskSE3Equality &task, double weight, unsigned int priorityLevel, double transition_duration)

static bool	addRigidContact6d (T &self, contacts::Contact6d &contact, double force_regularization_weight)

static bool	addRigidContact6dDeprecated (T &self, contacts::Contact6d &contact)

static bool	addRigidContact6dWithPriorityLevel (T &self, contacts::Contact6d &contact, double force_regularization_weight, double motion_weight, const bool priority_level)

static bool	addRigidContactPoint (T &self, contacts::ContactPoint &contact, double force_regularization_weight)

static bool	addRigidContactPointWithPriorityLevel (T &self, contacts::ContactPoint &contact, double force_regularization_weight, double motion_weight, const bool priority_level)

static bool	checkContact (T &self, const std::string &name, const solvers::HQPOutput &sol)

static HQPDatas	computeProblemData (T &self, double time, const Eigen::VectorXd &q, const Eigen::VectorXd &v)

static pinocchio::Data	data (T &self)

static void	expose (const std::string &class_name)

static Eigen::VectorXd	getAccelerations (T &self, const solvers::HQPOutput &sol)

static Eigen::VectorXd	getActuatorForces (T &self, const solvers::HQPOutput &sol)

static Eigen::VectorXd	getContactForce (T &self, const std::string &name, const solvers::HQPOutput &sol)

static Eigen::VectorXd	getContactForces (T &self, const solvers::HQPOutput &sol)

static bool	removeFromHqpData (T &self, const std::string &constraintName)

static bool	removeRigidContact (T &self, const std::string &contactName, double transition_duration)

static bool	removeTask (T &self, const std::string &task_name, double transition_duration)

static bool	updateRigidContactWeights (T &self, const std::string &contact_name, double force_regularization_weight)

static bool	updateRigidContactWeightsWithMotionWeight (T &self, const std::string &contact_name, double force_regularization_weight, double motion_weight)

static bool	updateTaskWeight (T &self, const std::string &task_name, double weight)

Detailed Description

template<typename T>
struct tsid::python::InvDynPythonVisitor< T >

Definition at line 43 of file formulation.hpp.

Member Function Documentation

◆ addActuationTask_Bounds()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::addActuationTask_Bounds	(	T &	self,
		tasks::TaskActuationBounds &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration
	)

inlinestatic

Definition at line 159 of file formulation.hpp.

◆ addForceTask_COP()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::addForceTask_COP	(	T &	self,
		tasks::TaskCopEquality &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration
	)

inlinestatic

Definition at line 154 of file formulation.hpp.

◆ addMotionTask_AM()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::addMotionTask_AM	(	T &	self,
		tasks::TaskAMEquality &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration
	)

inlinestatic

Definition at line 149 of file formulation.hpp.

◆ addMotionTask_COM()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::addMotionTask_COM	(	T &	self,
		tasks::TaskComEquality &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration
	)

inlinestatic

Definition at line 128 of file formulation.hpp.

◆ addMotionTask_Joint()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::addMotionTask_Joint	(	T &	self,
		tasks::TaskJointPosture &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration
	)

inlinestatic

Definition at line 133 of file formulation.hpp.

◆ addMotionTask_JointBounds()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::addMotionTask_JointBounds	(	T &	self,
		tasks::TaskJointBounds &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration
	)

inlinestatic

Definition at line 138 of file formulation.hpp.

◆ addMotionTask_JointPosVelAccBounds()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::addMotionTask_JointPosVelAccBounds	(	T &	self,
		tasks::TaskJointPosVelAccBounds &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration
	)

inlinestatic

Definition at line 144 of file formulation.hpp.

◆ addMotionTask_SE3()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::addMotionTask_SE3	(	T &	self,
		tasks::TaskSE3Equality &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration
	)

inlinestatic

Definition at line 123 of file formulation.hpp.

◆ addRigidContact6d()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::addRigidContact6d	(	T &	self,
		contacts::Contact6d &	contact,
		double	force_regularization_weight
	)

inlinestatic

Definition at line 185 of file formulation.hpp.

◆ addRigidContact6dDeprecated()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::addRigidContact6dDeprecated	(	T &	self,
		contacts::Contact6d &	contact
	)

inlinestatic

Definition at line 181 of file formulation.hpp.

◆ addRigidContact6dWithPriorityLevel()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::addRigidContact6dWithPriorityLevel	(	T &	self,
		contacts::Contact6d &	contact,
		double	force_regularization_weight,
		double	motion_weight,
		const bool	priority_level
	)

inlinestatic

Definition at line 189 of file formulation.hpp.

◆ addRigidContactPoint()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::addRigidContactPoint	(	T &	self,
		contacts::ContactPoint &	contact,
		double	force_regularization_weight
	)

inlinestatic

Definition at line 195 of file formulation.hpp.

◆ addRigidContactPointWithPriorityLevel()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::addRigidContactPointWithPriorityLevel	(	T &	self,
		contacts::ContactPoint &	contact,
		double	force_regularization_weight,
		double	motion_weight,
		const bool	priority_level
	)

inlinestatic

Definition at line 199 of file formulation.hpp.

◆ checkContact()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::checkContact	(	T &	self,
		const std::string &	name,
		const solvers::HQPOutput &	sol
	)

inlinestatic

Definition at line 236 of file formulation.hpp.

◆ computeProblemData()

template<typename T >

static HQPDatas tsid::python::InvDynPythonVisitor< T >::computeProblemData	(	T &	self,
		double	time,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v
	)

inlinestatic

Definition at line 217 of file formulation.hpp.

◆ data()

template<typename T >

static pinocchio::Data tsid::python::InvDynPythonVisitor< T >::data ( T & self )

inlinestatic

Definition at line 119 of file formulation.hpp.

◆ expose()

template<typename T >

static void tsid::python::InvDynPythonVisitor< T >::expose ( const std::string & class_name )

inlinestatic

Definition at line 247 of file formulation.hpp.

◆ getAccelerations()

template<typename T >

static Eigen::VectorXd tsid::python::InvDynPythonVisitor< T >::getAccelerations	(	T &	self,
		const solvers::HQPOutput &	sol
	)

inlinestatic

Definition at line 228 of file formulation.hpp.

◆ getActuatorForces()

template<typename T >

static Eigen::VectorXd tsid::python::InvDynPythonVisitor< T >::getActuatorForces	(	T &	self,
		const solvers::HQPOutput &	sol
	)

inlinestatic

Definition at line 224 of file formulation.hpp.

◆ getContactForce()

template<typename T >

static Eigen::VectorXd tsid::python::InvDynPythonVisitor< T >::getContactForce	(	T &	self,
		const std::string &	name,
		const solvers::HQPOutput &	sol
	)

inlinestatic

Definition at line 242 of file formulation.hpp.

◆ getContactForces()

template<typename T >

static Eigen::VectorXd tsid::python::InvDynPythonVisitor< T >::getContactForces	(	T &	self,
		const solvers::HQPOutput &	sol
	)

inlinestatic

Definition at line 232 of file formulation.hpp.

◆ removeFromHqpData()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::removeFromHqpData	(	T &	self,
		const std::string &	constraintName
	)

inlinestatic

Definition at line 214 of file formulation.hpp.

◆ removeRigidContact()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::removeRigidContact	(	T &	self,
		const std::string &	contactName,
		double	transition_duration
	)

inlinestatic

Definition at line 210 of file formulation.hpp.

◆ removeTask()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::removeTask	(	T &	self,
		const std::string &	task_name,
		double	transition_duration
	)

inlinestatic

Definition at line 206 of file formulation.hpp.

◆ updateRigidContactWeights()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::updateRigidContactWeights	(	T &	self,
		const std::string &	contact_name,
		double	force_regularization_weight
	)

inlinestatic

Definition at line 169 of file formulation.hpp.

◆ updateRigidContactWeightsWithMotionWeight()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::updateRigidContactWeightsWithMotionWeight	(	T &	self,
		const std::string &	contact_name,
		double	force_regularization_weight,
		double	motion_weight
	)

inlinestatic

Definition at line 175 of file formulation.hpp.

◆ updateTaskWeight()

template<typename T >

static bool tsid::python::InvDynPythonVisitor< T >::updateTaskWeight	(	T &	self,
		const std::string &	task_name,
		double	weight
	)

inlinestatic

Definition at line 165 of file formulation.hpp.

◆ visit()

template<typename T >

template<class PyClass >

void tsid::python::InvDynPythonVisitor< T >::visit ( PyClass & cl ) const

inline

Definition at line 47 of file formulation.hpp.

The documentation for this struct was generated from the following file:

formulation.hpp

Public Member Functions

Static Public Member Functions

Detailed Description

template<typename T> struct tsid::python::InvDynPythonVisitor< T >

Member Function Documentation

◆ addActuationTask_Bounds()

◆ addForceTask_COP()

◆ addMotionTask_AM()

◆ addMotionTask_COM()

◆ addMotionTask_Joint()

◆ addMotionTask_JointBounds()

◆ addMotionTask_JointPosVelAccBounds()

◆ addMotionTask_SE3()

◆ addRigidContact6d()

◆ addRigidContact6dDeprecated()

◆ addRigidContact6dWithPriorityLevel()

◆ addRigidContactPoint()

◆ addRigidContactPointWithPriorityLevel()

◆ checkContact()

◆ computeProblemData()

◆ data()

◆ expose()

◆ getAccelerations()

◆ getActuatorForces()

◆ getContactForce()

◆ getContactForces()

◆ removeFromHqpData()

◆ removeRigidContact()

◆ removeTask()

◆ updateRigidContactWeights()

◆ updateRigidContactWeightsWithMotionWeight()

◆ updateTaskWeight()

◆ visit()

template<typename T>
struct tsid::python::InvDynPythonVisitor< T >