#include <task-contact-force-equality.hpp>

Inheritance diagram for tsid::tasks::TaskContactForceEquality:

Public Types
typedef math::ConstraintEquality	ConstraintEquality

typedef pinocchio::SE3	SE3

typedef trajectories::TrajectorySample	TrajectorySample

typedef math::Vector	Vector

typedef math::Vector3	Vector3

typedef math::Vector6	Vector6

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

const ConstraintBase &	compute (double t, ConstRefVector q, ConstRefVector v, Data &data, const std::vector< std::shared_ptr< ContactLevel > > *contacts) override

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

virtual const contacts::ContactBase &	getAssociatedContact ()

virtual const std::string &	getAssociatedContactName () override

const ConstraintBase &	getConstraint () const override

const TrajectorySample &	getExternalForce () const

const double &	getLeakRate () const

const TrajectorySample &	getReference () const

const Vector &	Kd () const

void	Kd (ConstRefVector Kp)

const Vector &	Ki () const

void	Ki (ConstRefVector Ki)

const Vector &	Kp () const

void	Kp (ConstRefVector Kp)

void	setAssociatedContact (contacts::ContactBase &contact)

void	setExternalForce (TrajectorySample &f_ext)

void	setLeakRate (double leak)

void	setReference (TrajectorySample &ref)

	TaskContactForceEquality (const std::string &name, RobotWrapper &robot, const double dt, contacts::ContactBase &contact)

Public Member Functions inherited from tsid::tasks::TaskContactForce
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	TaskContactForce (const std::string &name, RobotWrapper &robot)

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::TaskBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase	ConstraintBase

Protected Attributes
ConstraintEquality	m_constraint

contacts::ContactBase *	m_contact

std::string	m_contact_name

double	m_dt

TrajectorySample	m_fext

Vector	m_forceIntegralError

Vector	m_Kd

Vector	m_Ki

Vector	m_Kp

double	m_leak_rate

TrajectorySample	m_ref

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 30 of file tasks/task-contact-force-equality.hpp.

Member Typedef Documentation

◆ ConstraintEquality

typedef math::ConstraintEquality tsid::tasks::TaskContactForceEquality::ConstraintEquality

Definition at line 39 of file tasks/task-contact-force-equality.hpp.

◆ SE3

typedef pinocchio::SE3 tsid::tasks::TaskContactForceEquality::SE3

Definition at line 40 of file tasks/task-contact-force-equality.hpp.

◆ TrajectorySample

typedef trajectories::TrajectorySample tsid::tasks::TaskContactForceEquality::TrajectorySample

Definition at line 35 of file tasks/task-contact-force-equality.hpp.

◆ Vector

typedef math::Vector tsid::tasks::TaskContactForceEquality::Vector

Definition at line 36 of file tasks/task-contact-force-equality.hpp.

◆ Vector3

typedef math::Vector3 tsid::tasks::TaskContactForceEquality::Vector3

Definition at line 38 of file tasks/task-contact-force-equality.hpp.

◆ Vector6

typedef math::Vector6 tsid::tasks::TaskContactForceEquality::Vector6

Definition at line 37 of file tasks/task-contact-force-equality.hpp.

Constructor & Destructor Documentation

◆ TaskContactForceEquality()

tsid::tasks::TaskContactForceEquality::TaskContactForceEquality	(	const std::string &	name,
		RobotWrapper &	robot,
		const double	dt,
		contacts::ContactBase &	contact
	)

Definition at line 28 of file src/tasks/task-contact-force-equality.cpp.

Member Function Documentation

◆ compute() [1/2]

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

overridevirtual

Implements tsid::tasks::TaskBase.

Definition at line 129 of file src/tasks/task-contact-force-equality.cpp.

◆ compute() [2/2]

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

overridevirtual

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.

Implements tsid::tasks::TaskContactForce.

Definition at line 103 of file src/tasks/task-contact-force-equality.cpp.

◆ dim()

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

overridevirtual

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

Implements tsid::tasks::TaskBase.

Definition at line 42 of file src/tasks/task-contact-force-equality.cpp.

◆ getAssociatedContact()

const contacts::ContactBase & tsid::tasks::TaskContactForceEquality::getAssociatedContact ( )

virtual

Definition at line 75 of file src/tasks/task-contact-force-equality.cpp.

◆ getAssociatedContactName()

const std::string & tsid::tasks::TaskContactForceEquality::getAssociatedContactName ( )

overridevirtual

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.

Implements tsid::tasks::TaskContactForce.

Definition at line 71 of file src/tasks/task-contact-force-equality.cpp.