#include <task-contact-force.hpp>

Inheritance diagram for tsid::tasks::TaskContactForce:

[legend]

Public Member Functions
virtual const TSID_DISABLE_WARNING_PUSH ConstraintBase &	compute (const double t, ConstRefVector q, ConstRefVector v, Data &data, const std::vector< std::shared_ptr< ContactLevel > > *contacts)=0

virtual const TSID_DISABLE_WARNING_POP std::string &	getAssociatedContactName ()=0

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	TaskContactForce (const std::string &name, RobotWrapper &robot)

Public Member Functions inherited from tsid::tasks::TaskBase
virtual const ConstraintBase &	compute (double t, ConstRefVector q, ConstRefVector v, Data &data)=0

virtual int	dim () const =0
	Return the dimension of the task. \info should be overloaded in the child class. More...

virtual const ConstraintBase &	getConstraint () const =0

const std::string &	name () const

void	name (const std::string &name)

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

virtual	~TaskBase ()=default

Additional Inherited Members
Public Types inherited from tsid::tasks::TaskBase
typedef math::ConstRefVector	ConstRefVector

typedef pinocchio::Data	Data

typedef robots::RobotWrapper	RobotWrapper

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

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 28 of file task-contact-force.hpp.

Constructor & Destructor Documentation

◆ TaskContactForce()

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

Definition at line 24 of file task-contact-force.cpp.

Member Function Documentation

◆ compute()

virtual const TSID_DISABLE_WARNING_PUSH ConstraintBase& tsid::tasks::TaskContactForce::compute	(	const double	t,
		ConstRefVector	q,
		ConstRefVector	v,
		Data &	data,
		const std::vector< std::shared_ptr< ContactLevel > > *	contacts
	)

pure virtual

Contact force tasks have an additional compute method that takes as extra input argument the list of active contacts. This can be needed for force tasks that involve all contacts, such as the CoP task.

Implemented in tsid::tasks::TaskContactForceEquality, and tsid::tasks::TaskCopEquality.

◆ getAssociatedContactName()

virtual const TSID_DISABLE_WARNING_POP std::string& tsid::tasks::TaskContactForce::getAssociatedContactName ( )

pure virtual

Return the name of the contact associated to this task if this task is associated to a specific contact. If this task is associated to multiple contact forces (all of them), returns an empty string.

Implemented in tsid::tasks::TaskCopEquality, and tsid::tasks::TaskContactForceEquality.

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