tsid: tsid::tasks::TaskJointBounds Class Reference

#include <task-joint-bounds.hpp>

Inheritance diagram for tsid::tasks::TaskJointBounds:

Inheritance graph

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Public Types
typedef math::ConstraintBound	ConstraintBound

typedef pinocchio::Data	Data

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 (const 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 Vector &	getAccelerationLowerBounds () const

const Vector &	getAccelerationUpperBounds () const

const ConstraintBase &	getConstraint () const override

const Vector &	getVelocityLowerBounds () const

const Vector &	getVelocityUpperBounds () const

void	setAccelerationBounds (ConstRefVector lower, ConstRefVector upper)

virtual void	setMask (math::ConstRefVector mask) override

void	setTimeStep (double dt)

void	setVelocityBounds (ConstRefVector lower, ConstRefVector upper)

	TaskJointBounds (const std::string &name, RobotWrapper &robot, double dt)

Public Member Functions inherited from tsid::tasks::TaskMotion
virtual Vector	getAcceleration (ConstRefVector dv) const

virtual const Vector &	getDesiredAcceleration () const

virtual const Vector &	getMask () const

virtual const TrajectorySample &	getReference () const

virtual bool	hasMask ()

virtual const Vector &	position () const

virtual const Vector &	position_error () const

virtual const Vector &	position_ref () const

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

virtual const Vector &	velocity () const

virtual const Vector &	velocity_error () const

virtual const Vector &	velocity_ref () const

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::Vector	Vector

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
Vector	m_a_lb

Vector	m_a_ub

ConstraintBound	m_constraint

Vector	m_ddq_max_due_to_vel

Vector	m_ddq_min_due_to_vel

double	m_dt

int	m_na

int	m_nv

Vector	m_v_lb

Vector	m_v_ub

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 27 of file tasks/task-joint-bounds.hpp.

Member Typedef Documentation

◆ ConstraintBound

typedef math::ConstraintBound tsid::tasks::TaskJointBounds::ConstraintBound

Definition at line 32 of file tasks/task-joint-bounds.hpp.

◆ Data

typedef pinocchio::Data tsid::tasks::TaskJointBounds::Data

Definition at line 33 of file tasks/task-joint-bounds.hpp.

Constructor & Destructor Documentation

◆ TaskJointBounds()

tsid::tasks::TaskJointBounds::TaskJointBounds	(	const std::string &	name,
		RobotWrapper &	robot,
		double	dt
	)

Definition at line 27 of file src/tasks/task-joint-bounds.cpp.

Member Function Documentation

◆ compute()

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

overridevirtual

Implements tsid::tasks::TaskBase.

Definition at line 102 of file src/tasks/task-joint-bounds.cpp.

◆ dim()

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

overridevirtual

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

Implements tsid::tasks::TaskBase.

Definition at line 49 of file src/tasks/task-joint-bounds.cpp.

◆ getAccelerationLowerBounds()

const Vector & tsid::tasks::TaskJointBounds::getAccelerationLowerBounds ( ) const

Definition at line 51 of file src/tasks/task-joint-bounds.cpp.

◆ getAccelerationUpperBounds()

const Vector & tsid::tasks::TaskJointBounds::getAccelerationUpperBounds ( ) const

Definition at line 55 of file src/tasks/task-joint-bounds.cpp.

◆ getConstraint()

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

overridevirtual

Implements tsid::tasks::TaskBase.

Definition at line 96 of file src/tasks/task-joint-bounds.cpp.

◆ getVelocityLowerBounds()

const Vector & tsid::tasks::TaskJointBounds::getVelocityLowerBounds ( ) const

Definition at line 59 of file src/tasks/task-joint-bounds.cpp.

◆ getVelocityUpperBounds()

const Vector & tsid::tasks::TaskJointBounds::getVelocityUpperBounds ( ) const

Definition at line 61 of file src/tasks/task-joint-bounds.cpp.

◆ setAccelerationBounds()

void tsid::tasks::TaskJointBounds::setAccelerationBounds	(	ConstRefVector	lower,
		ConstRefVector	upper
	)

Definition at line 82 of file src/tasks/task-joint-bounds.cpp.

◆ setMask()

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

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 100 of file src/tasks/task-joint-bounds.cpp.

◆ setTimeStep()

void tsid::tasks::TaskJointBounds::setTimeStep ( double dt )

Definition at line 63 of file src/tasks/task-joint-bounds.cpp.

◆ setVelocityBounds()

void tsid::tasks::TaskJointBounds::setVelocityBounds	(	ConstRefVector	lower,
		ConstRefVector	upper
	)

Definition at line 68 of file src/tasks/task-joint-bounds.cpp.

Member Data Documentation

◆ m_a_lb

Vector tsid::tasks::TaskJointBounds::m_a_lb

protected

Definition at line 56 of file tasks/task-joint-bounds.hpp.

◆ m_a_ub

Vector tsid::tasks::TaskJointBounds::m_a_ub

protected

Definition at line 56 of file tasks/task-joint-bounds.hpp.

◆ m_constraint

ConstraintBound tsid::tasks::TaskJointBounds::m_constraint

protected

Definition at line 58 of file tasks/task-joint-bounds.hpp.

◆ m_ddq_max_due_to_vel

Vector tsid::tasks::TaskJointBounds::m_ddq_max_due_to_vel

protected

Definition at line 57 of file tasks/task-joint-bounds.hpp.

◆ m_ddq_min_due_to_vel

Vector tsid::tasks::TaskJointBounds::m_ddq_min_due_to_vel

protected

Definition at line 57 of file tasks/task-joint-bounds.hpp.

◆ m_dt

double tsid::tasks::TaskJointBounds::m_dt

protected

Definition at line 59 of file tasks/task-joint-bounds.hpp.

◆ m_na

int tsid::tasks::TaskJointBounds::m_na

protected

Definition at line 60 of file tasks/task-joint-bounds.hpp.

◆ m_nv

int tsid::tasks::TaskJointBounds::m_nv

protected

Definition at line 60 of file tasks/task-joint-bounds.hpp.

◆ m_v_lb

Vector tsid::tasks::TaskJointBounds::m_v_lb

protected

Definition at line 55 of file tasks/task-joint-bounds.hpp.

◆ m_v_ub

Vector tsid::tasks::TaskJointBounds::m_v_ub

protected

Definition at line 55 of file tasks/task-joint-bounds.hpp.

◆ Vector

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector tsid::tasks::TaskJointBounds::Vector

Definition at line 31 of file tasks/task-joint-bounds.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