#include <inverse-dynamics-formulation-acc-force.hpp>

Inheritance diagram for tsid::InverseDynamicsFormulationAccForce:

Public Types
typedef math::ConstRefVector	ConstRefVector

typedef solvers::HQPOutput	HQPOutput

typedef math::Matrix	Matrix

typedef contacts::MeasuredForceBase	MeasuredForceBase

typedef tasks::TaskActuation	TaskActuation

typedef tasks::TaskBase	TaskBase

typedef tasks::TaskContactForce	TaskContactForce

typedef tasks::TaskMotion	TaskMotion

typedef math::Vector	Vector

Public Types inherited from tsid::InverseDynamicsFormulationBase
typedef math::ConstRefVector	ConstRefVector

typedef contacts::ContactBase	ContactBase

typedef solvers::HQPData	HQPData

typedef solvers::HQPOutput	HQPOutput

typedef contacts::MeasuredForceBase	MeasuredForceBase

typedef math::RefVector	RefVector

typedef robots::RobotWrapper	RobotWrapper

typedef tasks::TaskActuation	TaskActuation

typedef tasks::TaskBase	TaskBase

typedef tasks::TaskContactForce	TaskContactForce

typedef tasks::TaskMotion	TaskMotion

typedef math::Vector	Vector

Public Member Functions
bool	addActuationTask (TaskActuation &task, double weight, unsigned int priorityLevel, double transition_duration=0.0) override

bool	addForceTask (TaskContactForce &task, double weight, unsigned int priorityLevel, double transition_duration=0.0) override

bool	addMeasuredForce (MeasuredForceBase &measuredForce) override

bool	addMotionTask (TaskMotion &task, double weight, unsigned int priorityLevel, double transition_duration=0.0) override

TSID_DEPRECATED bool	addRigidContact (ContactBase &contact) override

bool	addRigidContact (ContactBase &contact, double force_regularization_weight, double motion_weight=1.0, unsigned int motion_priority_level=0) override
	Add a rigid contact constraint to the model, introducing the associated reaction forces as problem variables. More...

template<class TaskLevelPointer >
void	addTask (TaskLevelPointer task, double weight, unsigned int priorityLevel)

const HQPData &	computeProblemData (double time, ConstRefVector q, ConstRefVector v) override

Data &	data () override

bool	decodeSolution (const HQPOutput &sol)

const Vector &	getAccelerations (const HQPOutput &sol) override

const Vector &	getActuatorForces (const HQPOutput &sol) override

const Vector &	getContactForces (const HQPOutput &sol) override

Vector	getContactForces (const std::string &name, const HQPOutput &sol)

bool	getContactForces (const std::string &name, const HQPOutput &sol, RefVector f) override

	InverseDynamicsFormulationAccForce (const std::string &name, RobotWrapper &robot, bool verbose=false)

unsigned int	nEq () const override

unsigned int	nIn () const override

unsigned int	nVar () const override

bool	removeFromHqpData (const std::string &name)

bool	removeMeasuredForce (const std::string &measuredForceName) override

bool	removeRigidContact (const std::string &contactName, double transition_duration=0.0) override

bool	removeTask (const std::string &taskName, double transition_duration=0.0) override

void	resizeHqpData ()

bool	updateRigidContactWeights (const std::string &contact_name, double force_regularization_weight, double motion_weight=-1.0) override
	Update the weights associated to the specified contact. More...

bool	updateTaskWeight (const std::string &task_name, double weight) override

Public Member Functions inherited from tsid::InverseDynamicsFormulationBase
	InverseDynamicsFormulationBase (const std::string &name, RobotWrapper &robot, bool verbose=false)

virtual	~InverseDynamicsFormulationBase ()=default

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::Data	Data

Vector	h_fext

std::shared_ptr< math::ConstraintEquality >	m_baseDynamics
	contact force Jacobian More...

std::vector< std::shared_ptr< ContactLevel > >	m_contacts

std::vector< std::shared_ptr< ContactTransitionInfo > >	m_contactTransitions
	sum of external measured forces More...

Data	m_data

Vector	m_dv

unsigned int	m_eq
	number of unactuated DoFs More...

Vector	m_f

HQPData	m_hqpData

unsigned int	m_in
	number of equality constraints More...

Matrix	m_Jc
	number of inequality constraints More...

unsigned int	m_k
	time More...

std::vector< std::shared_ptr< MeasuredForceLevel > >	m_measuredForces

bool	m_solutionDecoded

double	m_t

std::vector< std::shared_ptr< TaskLevel > >	m_taskActuations

std::vector< std::shared_ptr< TaskLevelForce > >	m_taskContactForces

std::vector< std::shared_ptr< TaskLevel > >	m_taskMotions

Vector	m_tau

unsigned int	m_u
	number of acceleration variables More...

unsigned int	m_v
	number of contact-force variables More...

Public Attributes inherited from tsid::InverseDynamicsFormulationBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::Data	Data

Additional Inherited Members
Protected Attributes inherited from tsid::InverseDynamicsFormulationBase
std::string	m_name

RobotWrapper	m_robot

bool	m_verbose

Detailed Description

Definition at line 40 of file inverse-dynamics-formulation-acc-force.hpp.

Member Typedef Documentation

◆ ConstRefVector

typedef math::ConstRefVector tsid::InverseDynamicsFormulationAccForce::ConstRefVector

Definition at line 48 of file inverse-dynamics-formulation-acc-force.hpp.

◆ HQPOutput

typedef solvers::HQPOutput tsid::InverseDynamicsFormulationAccForce::HQPOutput

Definition at line 54 of file inverse-dynamics-formulation-acc-force.hpp.

◆ Matrix

typedef math::Matrix tsid::InverseDynamicsFormulationAccForce::Matrix

Definition at line 47 of file inverse-dynamics-formulation-acc-force.hpp.

◆ MeasuredForceBase

typedef contacts::MeasuredForceBase tsid::InverseDynamicsFormulationAccForce::MeasuredForceBase

Definition at line 53 of file inverse-dynamics-formulation-acc-force.hpp.

◆ TaskActuation

typedef tasks::TaskActuation tsid::InverseDynamicsFormulationAccForce::TaskActuation

Definition at line 52 of file inverse-dynamics-formulation-acc-force.hpp.

◆ TaskBase

typedef tasks::TaskBase tsid::InverseDynamicsFormulationAccForce::TaskBase

Definition at line 49 of file inverse-dynamics-formulation-acc-force.hpp.

◆ TaskContactForce

typedef tasks::TaskContactForce tsid::InverseDynamicsFormulationAccForce::TaskContactForce

Definition at line 51 of file inverse-dynamics-formulation-acc-force.hpp.

◆ TaskMotion

typedef tasks::TaskMotion tsid::InverseDynamicsFormulationAccForce::TaskMotion

Definition at line 50 of file inverse-dynamics-formulation-acc-force.hpp.

◆ Vector

typedef math::Vector tsid::InverseDynamicsFormulationAccForce::Vector

Definition at line 46 of file inverse-dynamics-formulation-acc-force.hpp.

Constructor & Destructor Documentation

◆ InverseDynamicsFormulationAccForce()

InverseDynamicsFormulationAccForce::InverseDynamicsFormulationAccForce	(	const std::string &	name,
		RobotWrapper &	robot,
		bool	verbose = `false`
	)

Definition at line 32 of file inverse-dynamics-formulation-acc-force.cpp.

Member Function Documentation

◆ addActuationTask()

bool InverseDynamicsFormulationAccForce::addActuationTask	(	TaskActuation &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration = `0.0`
	)

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 128 of file inverse-dynamics-formulation-acc-force.cpp.

◆ addForceTask()

bool InverseDynamicsFormulationAccForce::addForceTask	(	TaskContactForce &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration = `0.0`
	)

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 113 of file inverse-dynamics-formulation-acc-force.cpp.

◆ addMeasuredForce()

bool InverseDynamicsFormulationAccForce::addMeasuredForce ( MeasuredForceBase & measuredForce )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 247 of file inverse-dynamics-formulation-acc-force.cpp.

◆ addMotionTask()

bool InverseDynamicsFormulationAccForce::addMotionTask	(	TaskMotion &	task,
		double	weight,
		unsigned int	priorityLevel,
		double	transition_duration = `0.0`
	)

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 97 of file inverse-dynamics-formulation-acc-force.cpp.

◆ addRigidContact() [1/2]

bool InverseDynamicsFormulationAccForce::addRigidContact ( ContactBase & contact )

overridevirtual

Reimplemented from tsid::InverseDynamicsFormulationBase.

Definition at line 214 of file inverse-dynamics-formulation-acc-force.cpp.

◆ addRigidContact() [2/2]

bool InverseDynamicsFormulationAccForce::addRigidContact	(	ContactBase &	contact,
		double	force_regularization_weight,
		double	motion_weight = `1.0`,
		unsigned int	motion_priority_level = `0`
	)

overridevirtual

Add a rigid contact constraint to the model, introducing the associated reaction forces as problem variables.

Parameters

contact	The contact constraint to add
force_regularization_weight	The weight of the force regularization task
motion_weight	The weight of the motion task (e.g., zero acceleration of contact points)
motion_priority_level	Priority level of the motion task

Returns: True if everything went fine, false otherwise

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 177 of file inverse-dynamics-formulation-acc-force.cpp.

◆ addTask()

template<class TaskLevelPointer >

void InverseDynamicsFormulationAccForce::addTask	(	TaskLevelPointer	task,
		double	weight,
		unsigned int	priorityLevel
	)

Definition at line 74 of file inverse-dynamics-formulation-acc-force.cpp.

◆ computeProblemData()

const HQPData & InverseDynamicsFormulationAccForce::computeProblemData	(	double	time,
		ConstRefVector	q,
		ConstRefVector	v
	)

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 255 of file inverse-dynamics-formulation-acc-force.cpp.

◆ data()

Data & InverseDynamicsFormulationAccForce::data ( )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 53 of file inverse-dynamics-formulation-acc-force.cpp.

◆ decodeSolution()

bool InverseDynamicsFormulationAccForce::decodeSolution ( const HQPOutput & sol )

Definition at line 415 of file inverse-dynamics-formulation-acc-force.cpp.

◆ getAccelerations()

const Vector & InverseDynamicsFormulationAccForce::getAccelerations ( const HQPOutput & sol )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 437 of file inverse-dynamics-formulation-acc-force.cpp.

◆ getActuatorForces()

const Vector & InverseDynamicsFormulationAccForce::getActuatorForces ( const HQPOutput & sol )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 431 of file inverse-dynamics-formulation-acc-force.cpp.

◆ getContactForces() [1/3]

const Vector & InverseDynamicsFormulationAccForce::getContactForces ( const HQPOutput & sol )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 443 of file inverse-dynamics-formulation-acc-force.cpp.

◆ getContactForces() [2/3]

Vector InverseDynamicsFormulationAccForce::getContactForces	(	const std::string &	name,
		const HQPOutput &	sol
	)

Definition at line 449 of file inverse-dynamics-formulation-acc-force.cpp.

◆ getContactForces() [3/3]

bool InverseDynamicsFormulationAccForce::getContactForces	(	const std::string &	name,
		const HQPOutput &	sol,
		RefVector	f
	)

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 463 of file inverse-dynamics-formulation-acc-force.cpp.

◆ nEq()

unsigned int InverseDynamicsFormulationAccForce::nEq ( ) const

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 59 of file inverse-dynamics-formulation-acc-force.cpp.

◆ nIn()

unsigned int InverseDynamicsFormulationAccForce::nIn ( ) const

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 61 of file inverse-dynamics-formulation-acc-force.cpp.

◆ nVar()

unsigned int InverseDynamicsFormulationAccForce::nVar ( ) const

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 55 of file inverse-dynamics-formulation-acc-force.cpp.

◆ removeFromHqpData()

bool InverseDynamicsFormulationAccForce::removeFromHqpData ( const std::string & name )

Definition at line 588 of file inverse-dynamics-formulation-acc-force.cpp.

◆ removeMeasuredForce()

bool InverseDynamicsFormulationAccForce::removeMeasuredForce ( const std::string & measuredForceName )

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 577 of file inverse-dynamics-formulation-acc-force.cpp.

◆ removeRigidContact()

bool InverseDynamicsFormulationAccForce::removeRigidContact	(	const std::string &	contactName,
		double	transition_duration = `0.0`
	)

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 520 of file inverse-dynamics-formulation-acc-force.cpp.

◆ removeTask()

bool InverseDynamicsFormulationAccForce::removeTask	(	const std::string &	taskName,
		double	transition_duration = `0.0`
	)

overridevirtual

Implements tsid::InverseDynamicsFormulationBase.

Definition at line 477 of file inverse-dynamics-formulation-acc-force.cpp.

◆ resizeHqpData()

void InverseDynamicsFormulationAccForce::resizeHqpData ( )

Definition at line 63 of file inverse-dynamics-formulation-acc-force.cpp.

◆ updateRigidContactWeights()

bool InverseDynamicsFormulationAccForce::updateRigidContactWeights	(	const std::string &	contact_name,
		double	force_regularization_weight,
		double	motion_weight = `-1.0`
	)

overridevirtual

Update the weights associated to the specified contact.

Parameters

contact_name	Name of the contact to update
force_regularization_weight	Weight of the force regularization task, if negative it is not updated
motion_weight	Weight of the motion task, if negative it is not update