tsid::tasks::TaskActuationEquality Class Reference

#include <task-actuation-equality.hpp>

Inheritance diagram for tsid::tasks::TaskActuationEquality:

Public Types
typedef math::ConstraintEquality	ConstraintEquality
typedef pinocchio::Data	Data
typedef math::Vector	Vector
typedef math::VectorXi	VectorXi
Public Types inherited from tsid::tasks::TaskBase
typedef math::ConstRefVector	ConstRefVector
typedef pinocchio::Data	Data
typedef robots::RobotWrapper	RobotWrapper

Public Member Functions
const ConstraintBase &	compute (double t, ConstRefVector q, ConstRefVector v, Data &data) override
int	dim () const override
	Return the dimension of the task. \info should be overloaded in the child class. More...
const ConstraintBase &	getConstraint () const override
const Vector &	getReference () const
const Vector &	getWeightVector () const
const Vector &	mask () const
void	mask (const Vector &mask)
void	setReference (math::ConstRefVector ref)
void	setWeightVector (math::ConstRefVector weights)
	TaskActuationEquality (const std::string &name, RobotWrapper &robot)
Public Member Functions inherited from tsid::tasks::TaskActuation
	TaskActuation (const std::string &name, RobotWrapper &robot)
Public Member Functions inherited from tsid::tasks::TaskBase
const std::string &	name () const
void	name (const std::string &name)
	TaskBase (const std::string &name, RobotWrapper &robot)
virtual	~TaskBase ()=default

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index	Index
Public Attributes inherited from tsid::tasks::TaskBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase	ConstraintBase

Protected Attributes
VectorXi	m_activeAxes
ConstraintEquality	m_constraint
Vector	m_mask
Vector	m_ref
Vector	m_weights
Protected Attributes inherited from tsid::tasks::TaskBase
std::string	m_name
RobotWrapper &	m_robot
	Reference on the robot model. More...

Detailed Description

Definition at line 26 of file tasks/task-actuation-equality.hpp.

Member Typedef Documentation

ConstraintEquality

typedef math::ConstraintEquality tsid::tasks::TaskActuationEquality::ConstraintEquality

Definition at line 33 of file tasks/task-actuation-equality.hpp.

Data

typedef pinocchio::Data tsid::tasks::TaskActuationEquality::Data

Definition at line 34 of file tasks/task-actuation-equality.hpp.

Vector

typedef math::Vector tsid::tasks::TaskActuationEquality::Vector

Definition at line 31 of file tasks/task-actuation-equality.hpp.

VectorXi

typedef math::VectorXi tsid::tasks::TaskActuationEquality::VectorXi

Definition at line 32 of file tasks/task-actuation-equality.hpp.

Constructor & Destructor Documentation

TaskActuationEquality()

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

Definition at line 26 of file src/tasks/task-actuation-equality.cpp.

Member Function Documentation

compute()

const ConstraintBase & tsid::tasks::TaskActuationEquality::compute ( double  t, ConstRefVector  q, ConstRefVector  v, Data &  data  )

overridevirtual

Implements tsid::tasks::TaskBase.

Definition at line 106 of file src/tasks/task-actuation-equality.cpp.

dim()

int tsid::tasks::TaskActuationEquality::dim ( ) const

overridevirtual

Return the dimension of the task. \info should be overloaded in the child class.

Implements tsid::tasks::TaskBase.

Definition at line 64 of file src/tasks/task-actuation-equality.cpp.

getConstraint()

const ConstraintBase & tsid::tasks::TaskActuationEquality::getConstraint ( ) const

overridevirtual

Implements tsid::tasks::TaskBase.

Definition at line 102 of file src/tasks/task-actuation-equality.cpp.

getReference()

const Vector & tsid::tasks::TaskActuationEquality::getReference

(

)

const

Definition at line 80 of file src/tasks/task-actuation-equality.cpp.

getWeightVector()

const Vector & tsid::tasks::TaskActuationEquality::getWeightVector

(

)

const

Definition at line 98 of file src/tasks/task-actuation-equality.cpp.

mask() [1/2]

const Vector & tsid::tasks::TaskActuationEquality::mask

(

)

const

Definition at line 35 of file src/tasks/task-actuation-equality.cpp.

mask() [2/2]

void tsid::tasks::TaskActuationEquality::mask

(

const Vector &

mask

)

Definition at line 37 of file src/tasks/task-actuation-equality.cpp.

setReference()

void tsid::tasks::TaskActuationEquality::setReference

(

math::ConstRefVector

ref

)

Definition at line 68 of file src/tasks/task-actuation-equality.cpp.

setWeightVector()

void tsid::tasks::TaskActuationEquality::setWeightVector

(

math::ConstRefVector

weights

)

Definition at line 84 of file src/tasks/task-actuation-equality.cpp.

Member Data Documentation

Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskActuationEquality::Index

Definition at line 30 of file tasks/task-actuation-equality.hpp.

m_activeAxes

VectorXi tsid::tasks::TaskActuationEquality::m_activeAxes

protected

Definition at line 56 of file tasks/task-actuation-equality.hpp.

m_constraint

ConstraintEquality tsid::tasks::TaskActuationEquality::m_constraint

protected

Definition at line 59 of file tasks/task-actuation-equality.hpp.

m_mask

Vector tsid::tasks::TaskActuationEquality::m_mask

protected

Definition at line 55 of file tasks/task-actuation-equality.hpp.

m_ref

Vector tsid::tasks::TaskActuationEquality::m_ref

protected

Definition at line 57 of file tasks/task-actuation-equality.hpp.

m_weights

Vector tsid::tasks::TaskActuationEquality::m_weights

protected

Definition at line 58 of file tasks/task-actuation-equality.hpp.

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The documentation for this class was generated from the following files:

• tasks/task-actuation-equality.hpp
• src/tasks/task-actuation-equality.cpp