tsid::tasks::TaskCapturePointInequality Class Reference

#include <task-capture-point-inequality.hpp>

Inheritance diagram for tsid::tasks::TaskCapturePointInequality:

Public Types
typedef math::ConstraintInequality	ConstraintInequality
typedef pinocchio::Data	Data
typedef math::Matrix	Matrix
typedef pinocchio::SE3	SE3
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 &	position () const override
void	setSafetyMargin (const double x_margin, const double y_margin)
void	setSupportLimitsXAxis (const double x_min, const double x_max)
void	setSupportLimitsYAxis (const double y_min, const double y_max)
	TaskCapturePointInequality (const std::string &name, RobotWrapper &robot, const double timeStep)
Public Member Functions inherited from tsid::tasks::TaskMotion
virtual const Vector &	getDesiredAcceleration () const
virtual const Vector &	getMask () const
virtual const TrajectorySample &	getReference () const
virtual bool	hasMask ()
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
Vector	b_lower
Vector	b_upper
ConstraintInequality	m_constraint
double	m_delta_t
int	m_dim
Vector3	m_drift
Vector	m_drift_vec
double	m_g
double	m_ka
Eigen::Index	m_nv
Vector	m_p_com
Vector	m_rp_max
Vector	m_rp_min
Vector	m_safety_margin
Vector	m_support_limits_x
Vector	m_support_limits_y
Vector	m_v_com
double	m_w
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 31 of file task-capture-point-inequality.hpp.

Member Typedef Documentation

ConstraintInequality

typedef math::ConstraintInequality tsid::tasks::TaskCapturePointInequality::ConstraintInequality

Definition at line 39 of file task-capture-point-inequality.hpp.

Data

typedef pinocchio::Data tsid::tasks::TaskCapturePointInequality::Data

Definition at line 40 of file task-capture-point-inequality.hpp.

Matrix

typedef math::Matrix tsid::tasks::TaskCapturePointInequality::Matrix

Definition at line 37 of file task-capture-point-inequality.hpp.

SE3

typedef pinocchio::SE3 tsid::tasks::TaskCapturePointInequality::SE3

Definition at line 41 of file task-capture-point-inequality.hpp.

Vector

typedef math::Vector tsid::tasks::TaskCapturePointInequality::Vector

Definition at line 36 of file task-capture-point-inequality.hpp.

Vector3

typedef math::Vector3 tsid::tasks::TaskCapturePointInequality::Vector3

Definition at line 38 of file task-capture-point-inequality.hpp.

Constructor & Destructor Documentation

TaskCapturePointInequality()

tsid::tasks::TaskCapturePointInequality::TaskCapturePointInequality	(	const std::string &	name,
		RobotWrapper &	robot,
		const double	timeStep
	)

Definition at line 33 of file task-capture-point-inequality.cpp.

Member Function Documentation

compute()

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

overridevirtual

Implements tsid::tasks::TaskBase.

Definition at line 95 of file task-capture-point-inequality.cpp.

dim()

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

overridevirtual

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

Implements tsid::tasks::TaskBase.

Definition at line 60 of file task-capture-point-inequality.cpp.

getAcceleration()

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

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 62 of file task-capture-point-inequality.cpp.

getConstraint()

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

overridevirtual

Implements tsid::tasks::TaskBase.

Definition at line 67 of file task-capture-point-inequality.cpp.

position()

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

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 66 of file task-capture-point-inequality.cpp.

setSafetyMargin()

void tsid::tasks::TaskCapturePointInequality::setSafetyMargin	(	const double	x_margin,
		const double	y_margin
	)

Definition at line 89 of file task-capture-point-inequality.cpp.

setSupportLimitsXAxis()

void tsid::tasks::TaskCapturePointInequality::setSupportLimitsXAxis	(	const double	x_min,
		const double	x_max
	)

Definition at line 71 of file task-capture-point-inequality.cpp.

setSupportLimitsYAxis()

void tsid::tasks::TaskCapturePointInequality::setSupportLimitsYAxis	(	const double	y_min,
		const double	y_max
	)

Definition at line 80 of file task-capture-point-inequality.cpp.

Member Data Documentation

b_lower

Vector tsid::tasks::TaskCapturePointInequality::b_lower

protected

Definition at line 83 of file task-capture-point-inequality.hpp.

b_upper

Vector tsid::tasks::TaskCapturePointInequality::b_upper

protected

Definition at line 84 of file task-capture-point-inequality.hpp.

Index

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskCapturePointInequality::Index

Definition at line 35 of file task-capture-point-inequality.hpp.

m_constraint

ConstraintInequality tsid::tasks::TaskCapturePointInequality::m_constraint

protected

Definition at line 70 of file task-capture-point-inequality.hpp.

m_delta_t

double tsid::tasks::TaskCapturePointInequality::m_delta_t

protected

Definition at line 77 of file task-capture-point-inequality.hpp.

m_dim

int tsid::tasks::TaskCapturePointInequality::m_dim

protected

Definition at line 81 of file task-capture-point-inequality.hpp.

m_drift

Vector3 tsid::tasks::TaskCapturePointInequality::m_drift

protected

Definition at line 65 of file task-capture-point-inequality.hpp.

m_drift_vec

Vector tsid::tasks::TaskCapturePointInequality::m_drift_vec

protected

Definition at line 64 of file task-capture-point-inequality.hpp.

m_g

double tsid::tasks::TaskCapturePointInequality::m_g

protected

Definition at line 78 of file task-capture-point-inequality.hpp.

m_ka

double tsid::tasks::TaskCapturePointInequality::m_ka

protected

Definition at line 80 of file task-capture-point-inequality.hpp.

m_nv

Eigen::Index tsid::tasks::TaskCapturePointInequality::m_nv

protected

Definition at line 76 of file task-capture-point-inequality.hpp.

m_p_com

Vector tsid::tasks::TaskCapturePointInequality::m_p_com

protected

Definition at line 66 of file task-capture-point-inequality.hpp.

m_rp_max

Vector tsid::tasks::TaskCapturePointInequality::m_rp_max

protected

Definition at line 68 of file task-capture-point-inequality.hpp.

m_rp_min

Vector tsid::tasks::TaskCapturePointInequality::m_rp_min

protected

Definition at line 67 of file task-capture-point-inequality.hpp.

m_safety_margin

Vector tsid::tasks::TaskCapturePointInequality::m_safety_margin

protected

Definition at line 72 of file task-capture-point-inequality.hpp.

m_support_limits_x

Vector tsid::tasks::TaskCapturePointInequality::m_support_limits_x

protected

Definition at line 73 of file task-capture-point-inequality.hpp.

m_support_limits_y

Vector tsid::tasks::TaskCapturePointInequality::m_support_limits_y

protected

Definition at line 74 of file task-capture-point-inequality.hpp.

m_v_com

Vector tsid::tasks::TaskCapturePointInequality::m_v_com

protected

Definition at line 66 of file task-capture-point-inequality.hpp.

m_w

double tsid::tasks::TaskCapturePointInequality::m_w

protected

Definition at line 79 of file task-capture-point-inequality.hpp.

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

• task-capture-point-inequality.hpp
• task-capture-point-inequality.cpp