tsid: tsid::tasks::TaskAMEquality Class Reference

#include <task-angular-momentum-equality.hpp>

Inheritance diagram for tsid::tasks::TaskAMEquality:

Inheritance graph

[legend]

Public Types
typedef math::ConstraintEquality	ConstraintEquality

typedef pinocchio::Data::Matrix6x	Matrix6x

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...

const Vector &	dmomentum_ref () const

const ConstraintBase &	getConstraint () const override

const Vector3 &	getDesiredMomentumDerivative () const

Vector3	getdMomentum (ConstRefVector dv) const

const TrajectorySample &	getReference () const override

const Vector3 &	Kd ()

void	Kd (ConstRefVector Kp)

const Vector3 &	Kp ()

void	Kp (ConstRefVector Kp)

const Vector3 &	momentum () const

const Vector3 &	momentum_error () const

const Vector &	momentum_ref () const

void	setReference (const TrajectorySample &ref)

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

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 bool	hasMask ()

virtual const Vector &	position () const

virtual const Vector &	position_error () const

virtual const Vector &	position_ref () const

virtual void	setMask (math::ConstRefVector mask)

	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::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
ConstraintEquality	m_constraint

Vector3	m_dL

Vector3	m_dL_des

Vector3	m_dL_error

Vector3	m_drift

Vector3	m_Kd

Vector3	m_Kp

Vector3	m_L

Vector3	m_L_error

TrajectorySample	m_ref

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 32 of file task-angular-momentum-equality.hpp.

Member Typedef Documentation

◆ ConstraintEquality

typedef math::ConstraintEquality tsid::tasks::TaskAMEquality::ConstraintEquality

Definition at line 40 of file task-angular-momentum-equality.hpp.

◆ Matrix6x

typedef pinocchio::Data::Matrix6x tsid::tasks::TaskAMEquality::Matrix6x

Definition at line 41 of file task-angular-momentum-equality.hpp.

◆ TrajectorySample

typedef trajectories::TrajectorySample tsid::tasks::TaskAMEquality::TrajectorySample

Definition at line 37 of file task-angular-momentum-equality.hpp.

◆ Vector

typedef math::Vector tsid::tasks::TaskAMEquality::Vector

Definition at line 38 of file task-angular-momentum-equality.hpp.

◆ Vector3

typedef math::Vector3 tsid::tasks::TaskAMEquality::Vector3

Definition at line 39 of file task-angular-momentum-equality.hpp.

Constructor & Destructor Documentation

◆ TaskAMEquality()

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

Definition at line 29 of file task-angular-momentum-equality.cpp.

Member Function Documentation

◆ compute()

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

overridevirtual

Implements tsid::tasks::TaskBase.

Definition at line 87 of file task-angular-momentum-equality.cpp.

◆ dim()

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

overridevirtual

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

Implements tsid::tasks::TaskBase.

Definition at line 41 of file task-angular-momentum-equality.cpp.

◆ dmomentum_ref()

const Vector & tsid::tasks::TaskAMEquality::dmomentum_ref ( ) const

Definition at line 79 of file task-angular-momentum-equality.cpp.

◆ getConstraint()

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

overridevirtual

Implements tsid::tasks::TaskBase.

Definition at line 83 of file task-angular-momentum-equality.cpp.

◆ getDesiredMomentumDerivative()

const Vector3 & tsid::tasks::TaskAMEquality::getDesiredMomentumDerivative ( ) const

Definition at line 66 of file task-angular-momentum-equality.cpp.

◆ getdMomentum()

Vector3 tsid::tasks::TaskAMEquality::getdMomentum ( ConstRefVector dv ) const

Definition at line 70 of file task-angular-momentum-equality.cpp.

◆ getReference()

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

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 64 of file task-angular-momentum-equality.cpp.

◆ Kd() [1/2]

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

Definition at line 48 of file task-angular-momentum-equality.cpp.

◆ Kd() [2/2]

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

Definition at line 56 of file task-angular-momentum-equality.cpp.

◆ Kp() [1/2]

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

Definition at line 46 of file task-angular-momentum-equality.cpp.

◆ Kp() [2/2]

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

Definition at line 50 of file task-angular-momentum-equality.cpp.

◆ momentum()

const Vector3 & tsid::tasks::TaskAMEquality::momentum ( ) const

Definition at line 76 of file task-angular-momentum-equality.cpp.

◆ momentum_error()

const Vector3 & tsid::tasks::TaskAMEquality::momentum_error ( ) const

Definition at line 74 of file task-angular-momentum-equality.cpp.

◆ momentum_ref()

const Vector & tsid::tasks::TaskAMEquality::momentum_ref ( ) const

Definition at line 77 of file task-angular-momentum-equality.cpp.

◆ setReference()

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

Definition at line 62 of file task-angular-momentum-equality.cpp.

Member Data Documentation

◆ Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskAMEquality::Index

Definition at line 36 of file task-angular-momentum-equality.hpp.

◆ m_constraint

ConstraintEquality tsid::tasks::TaskAMEquality::m_constraint

protected

Definition at line 77 of file task-angular-momentum-equality.hpp.

◆ m_dL

Vector3 tsid::tasks::TaskAMEquality::m_dL

protected

Definition at line 75 of file task-angular-momentum-equality.hpp.

◆ m_dL_des

Vector3 tsid::tasks::TaskAMEquality::m_dL_des

protected

Definition at line 72 of file task-angular-momentum-equality.hpp.

◆ m_dL_error

Vector3 tsid::tasks::TaskAMEquality::m_dL_error

protected

Definition at line 71 of file task-angular-momentum-equality.hpp.

◆ m_drift

Vector3 tsid::tasks::TaskAMEquality::m_drift

protected

Definition at line 74 of file task-angular-momentum-equality.hpp.

◆ m_Kd

Vector3 tsid::tasks::TaskAMEquality::m_Kd

protected

Definition at line 70 of file task-angular-momentum-equality.hpp.

◆ m_Kp

Vector3 tsid::tasks::TaskAMEquality::m_Kp

protected

Definition at line 69 of file task-angular-momentum-equality.hpp.

◆ m_L

Vector3 tsid::tasks::TaskAMEquality::m_L

protected

Definition at line 75 of file task-angular-momentum-equality.hpp.

◆ m_L_error

Vector3 tsid::tasks::TaskAMEquality::m_L_error

protected

Definition at line 71 of file task-angular-momentum-equality.hpp.

◆ m_ref

TrajectorySample tsid::tasks::TaskAMEquality::m_ref

protected

Definition at line 76 of file task-angular-momentum-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