task-actuation-equality.hpp

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//
// Copyright (c) 2021 CNRS INRIA LORIA
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#ifndef __invdyn_task_actuation_equality_hpp__
#define __invdyn_task_actuation_equality_hpp__

#include <tsid/tasks/task-actuation.hpp>
#include <tsid/math/constraint-equality.hpp>

namespace tsid {
namespace tasks {
class TaskActuationEquality : public TaskActuation {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef math::Index Index;
  typedef math::Vector Vector;
  typedef math::VectorXi VectorXi;
  typedef math::ConstraintEquality ConstraintEquality;
  typedef pinocchio::Data Data;

  TaskActuationEquality(const std::string& name, RobotWrapper& robot);

  virtual ~TaskActuationEquality() {}

  int dim() const;

  const ConstraintBase& compute(const double t, ConstRefVector q,
                                ConstRefVector v, Data& data);

  const ConstraintBase& getConstraint() const;

  void setReference(math::ConstRefVector ref);
  const Vector& getReference() const;

  void setWeightVector(math::ConstRefVector weights);
  const Vector& getWeightVector() const;

  const Vector& mask() const;
  void mask(const Vector& mask);

 protected:
  Vector m_mask;
  VectorXi m_activeAxes;
  Vector m_ref;
  Vector m_weights;
  ConstraintEquality m_constraint;
};
}  // namespace tasks
}  // namespace tsid

#endif  // ifndef __invdyn_task_actuation_equality_hpp__