tsid: tsid::tasks::TaskComEquality Class Reference

#include <task-com-equality.hpp>

Inheritance diagram for tsid::tasks::TaskComEquality:

Inheritance graph

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Public Types
typedef math::ConstraintEquality	ConstraintEquality

typedef trajectories::TrajectorySample	TrajectorySample

typedef math::Vector	Vector

typedef math::Vector3	Vector3

Public Types inherited from tsid::tasks::TaskMotion
typedef trajectories::TrajectorySample	TrajectorySample

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...

Vector	getAcceleration (ConstRefVector dv) const override

const ConstraintBase &	getConstraint () const override

const Vector &	getDesiredAcceleration () const override

const TrajectorySample &	getReference () const override

const Vector3 &	Kd ()

void	Kd (ConstRefVector Kp)

const Vector3 &	Kp ()

void	Kp (ConstRefVector Kp)

const Vector &	position () const override

const Vector &	position_error () const override

const Vector &	position_ref () const override

virtual void	setMask (math::ConstRefVector mask) override

void	setReference (const TrajectorySample &ref)

	TaskComEquality (const std::string &name, RobotWrapper &robot)

const Vector &	velocity () const override

const Vector &	velocity_error () const override

const Vector &	velocity_ref () const override

Public Member Functions inherited from tsid::tasks::TaskMotion
virtual const Vector &	getMask () const

virtual bool	hasMask ()

	TaskMotion (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::TaskMotion
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector	Vector

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

Protected Attributes
Vector3	m_a_des

Vector	m_a_des_masked

Vector	m_a_des_vec

ConstraintEquality	m_constraint

Vector3	m_drift

Vector	m_drift_masked

Vector3	m_Kd

Vector3	m_Kp

Vector	m_p_com

Vector3	m_p_error

Vector	m_p_error_masked_vec

Vector	m_p_error_vec

TrajectorySample	m_ref

Vector	m_v_com

Vector3	m_v_error

Vector	m_v_error_masked_vec

Vector	m_v_error_vec

Protected Attributes inherited from tsid::tasks::TaskMotion
Vector	m_dummy

Vector	m_mask

trajectories::TrajectorySample	TrajectorySample_dummy

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 29 of file tasks/task-com-equality.hpp.

Member Typedef Documentation

◆ ConstraintEquality

typedef math::ConstraintEquality tsid::tasks::TaskComEquality::ConstraintEquality

Definition at line 37 of file tasks/task-com-equality.hpp.

◆ TrajectorySample

typedef trajectories::TrajectorySample tsid::tasks::TaskComEquality::TrajectorySample

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

◆ Vector

typedef math::Vector tsid::tasks::TaskComEquality::Vector

Definition at line 35 of file tasks/task-com-equality.hpp.

◆ Vector3

typedef math::Vector3 tsid::tasks::TaskComEquality::Vector3

Definition at line 36 of file tasks/task-com-equality.hpp.

Constructor & Destructor Documentation

◆ TaskComEquality()

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

Definition at line 27 of file src/tasks/task-com-equality.cpp.

Member Function Documentation

◆ compute()

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

overridevirtual

Implements tsid::tasks::TaskBase.

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

◆ dim()

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

overridevirtual

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

Implements tsid::tasks::TaskBase.

Definition at line 54 of file src/tasks/task-com-equality.cpp.

◆ getAcceleration()

Vector tsid::tasks::TaskComEquality::getAcceleration ( ConstRefVector dv ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

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

◆ getConstraint()

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

overridevirtual

Implements tsid::tasks::TaskBase.

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

◆ getDesiredAcceleration()

const Vector & tsid::tasks::TaskComEquality::getDesiredAcceleration ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 76 of file src/tasks/task-com-equality.cpp.

◆ getReference()

const TrajectorySample & tsid::tasks::TaskComEquality::getReference ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 74 of file src/tasks/task-com-equality.cpp.

◆ Kd() [1/2]

const Vector3 & tsid::tasks::TaskComEquality::Kd ( )

Definition at line 58 of file src/tasks/task-com-equality.cpp.

◆ Kd() [2/2]

void tsid::tasks::TaskComEquality::Kd ( ConstRefVector Kp )

Definition at line 66 of file src/tasks/task-com-equality.cpp.

◆ Kp() [1/2]

const Vector3 & tsid::tasks::TaskComEquality::Kp ( )

Definition at line 56 of file src/tasks/task-com-equality.cpp.

◆ Kp() [2/2]

void tsid::tasks::TaskComEquality::Kp ( ConstRefVector Kp )

Definition at line 60 of file src/tasks/task-com-equality.cpp.

◆ position()

const Vector & tsid::tasks::TaskComEquality::position ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 92 of file src/tasks/task-com-equality.cpp.

◆ position_error()

const Vector & tsid::tasks::TaskComEquality::position_error ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

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

◆ position_ref()

const Vector & tsid::tasks::TaskComEquality::position_ref ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 96 of file src/tasks/task-com-equality.cpp.

◆ setMask()

void tsid::tasks::TaskComEquality::setMask ( math::ConstRefVector mask )

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 42 of file src/tasks/task-com-equality.cpp.

◆ setReference()

void tsid::tasks::TaskComEquality::setReference ( const TrajectorySample & ref )

Definition at line 72 of file src/tasks/task-com-equality.cpp.

◆ velocity()

const Vector & tsid::tasks::TaskComEquality::velocity ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 94 of file src/tasks/task-com-equality.cpp.

◆ velocity_error()

const Vector & tsid::tasks::TaskComEquality::velocity_error ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 88 of file src/tasks/task-com-equality.cpp.

◆ velocity_ref()

const Vector & tsid::tasks::TaskComEquality::velocity_ref ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

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

Member Data Documentation

◆ Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskComEquality::Index

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

◆ m_a_des

Vector3 tsid::tasks::TaskComEquality::m_a_des

protected

Definition at line 72 of file tasks/task-com-equality.hpp.

◆ m_a_des_masked

Vector tsid::tasks::TaskComEquality::m_a_des_masked

protected

Definition at line 73 of file tasks/task-com-equality.hpp.

◆ m_a_des_vec

Vector tsid::tasks::TaskComEquality::m_a_des_vec

protected

Definition at line 73 of file tasks/task-com-equality.hpp.

◆ m_constraint

ConstraintEquality tsid::tasks::TaskComEquality::m_constraint

protected

Definition at line 79 of file tasks/task-com-equality.hpp.

◆ m_drift

Vector3 tsid::tasks::TaskComEquality::m_drift

protected

Definition at line 74 of file tasks/task-com-equality.hpp.

◆ m_drift_masked

Vector tsid::tasks::TaskComEquality::m_drift_masked

protected

Definition at line 75 of file tasks/task-com-equality.hpp.

◆ m_Kd

Vector3 tsid::tasks::TaskComEquality::m_Kd

protected

Definition at line 69 of file tasks/task-com-equality.hpp.

◆ m_Kp

Vector3 tsid::tasks::TaskComEquality::m_Kp

protected

Definition at line 68 of file tasks/task-com-equality.hpp.

◆ m_p_com

Vector tsid::tasks::TaskComEquality::m_p_com

protected

Definition at line 76 of file tasks/task-com-equality.hpp.

◆ m_p_error

Vector3 tsid::tasks::TaskComEquality::m_p_error

protected

Definition at line 70 of file tasks/task-com-equality.hpp.

◆ m_p_error_masked_vec

Vector tsid::tasks::TaskComEquality::m_p_error_masked_vec

protected

Definition at line 71 of file tasks/task-com-equality.hpp.

◆ m_p_error_vec

Vector tsid::tasks::TaskComEquality::m_p_error_vec

protected

Definition at line 77 of file tasks/task-com-equality.hpp.

◆ m_ref

TrajectorySample tsid::tasks::TaskComEquality::m_ref

protected

Definition at line 78 of file tasks/task-com-equality.hpp.

◆ m_v_com

Vector tsid::tasks::TaskComEquality::m_v_com

protected

Definition at line 76 of file tasks/task-com-equality.hpp.

◆ m_v_error

Vector3 tsid::tasks::TaskComEquality::m_v_error

protected

Definition at line 70 of file tasks/task-com-equality.hpp.

◆ m_v_error_masked_vec

Vector tsid::tasks::TaskComEquality::m_v_error_masked_vec

protected

Definition at line 71 of file tasks/task-com-equality.hpp.

◆ m_v_error_vec

Vector tsid::tasks::TaskComEquality::m_v_error_vec

protected

Definition at line 77 of file tasks/task-com-equality.hpp.

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

tsid
Author(s): Andrea Del Prete, Justin Carpentier
autogenerated on Sat May 3 2025 02:48:17