#include <task-joint-posVelAcc-bounds.hpp>

Inheritance diagram for tsid::tasks::TaskJointPosVelAccBounds:

Public Types
typedef math::ConstraintBound	ConstraintBound

typedef math::ConstraintInequality	ConstraintInequality

typedef pinocchio::Data	Data

typedef math::VectorXi	VectorXi

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

void	computeAccLimits (ConstRefVector q, ConstRefVector dq, bool verbose=true)

void	computeAccLimitsFromPosLimits (ConstRefVector q, ConstRefVector dq, bool verbose=true)

void	computeAccLimitsFromViability (ConstRefVector q, ConstRefVector dq, bool verbose=true)

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

const Vector &	getAccelerationBounds () const

const ConstraintBase &	getConstraint () const override

const Vector &	getPositionLowerBounds () const

const Vector &	getPositionUpperBounds () const

const Vector &	getVelocityBounds () const

void	isStateViable (ConstRefVector q, ConstRefVector dq, bool verbose=true)

const TSID_DEPRECATED Vector &	mask () const

TSID_DEPRECATED void	mask (const Vector &mask)

void	setAccelerationBounds (ConstRefVector upper)

void	setImposeBounds (bool impose_position_bounds, bool impose_velocity_bounds, bool impose_viability_bounds, bool impose_acceleration_bounds)

virtual void	setMask (math::ConstRefVector mask) override

void	setPositionBounds (ConstRefVector lower, ConstRefVector upper)

void	setTimeStep (double dt)

void	setVelocityBounds (ConstRefVector upper)

void	setVerbose (bool verbose)

	TaskJointPosVelAccBounds (const std::string &name, RobotWrapper &robot, double dt, bool verbose=true)

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 const TrajectorySample &	getReference () const

virtual bool	hasMask ()

virtual const Vector &	position () const

virtual const Vector &	position_error () const

virtual const Vector &	position_ref () const

	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::Vector	Vector

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
VectorXi	m_activeAxes

Vector	m_b_1

Vector	m_b_2

Vector	m_c_1

Vector	m_c_2

ConstraintInequality	m_constraint

Vector	m_ddq_1

Vector	m_ddq_2

Vector	m_ddqLB

Vector	m_ddqLBAcc

Vector	m_ddqLBPos

Vector	m_ddqLBVel

Vector	m_ddqLBVia

Vector	m_ddqMax

Vector	m_ddqMax_q2

Vector	m_ddqMax_q3

Vector	m_ddqMin_q2

Vector	m_ddqMin_q3

Vector	m_ddqUB

Vector	m_ddqUBAcc

Vector	m_ddqUBPos

Vector	m_ddqUBVel

Vector	m_ddqUBVia

Vector	m_delta_1

Vector	m_delta_2

Vector	m_dq_square

Vector	m_dqa

Vector	m_dqMax

Vector	m_dqMaxViab

Vector	m_dqMinViab

double	m_dt

Vector	m_dt_ddqMax_dt

Vector	m_dt_dq

double	m_dt_square

Vector	m_dt_two_dq

double	m_eps

bool	m_impose_acceleration_bounds

bool	m_impose_position_bounds

bool	m_impose_velocity_bounds

bool	m_impose_viability_bounds

Vector	m_lb

Vector	m_mask

Vector	m_minus_dq_over_dt

int	m_na

int	m_nv

Vector	m_q_plus_dt_dq

Vector	m_qa

Vector	m_qMax

Vector	m_qMin

double	m_two_a

Vector	m_two_ddqMax

double	m_two_dt_sq

Vector	m_ub

bool	m_verbose

Vector	m_viabViol

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 36 of file tasks/task-joint-posVelAcc-bounds.hpp.

Member Typedef Documentation

◆ ConstraintBound

typedef math::ConstraintBound tsid::tasks::TaskJointPosVelAccBounds::ConstraintBound

Definition at line 41 of file tasks/task-joint-posVelAcc-bounds.hpp.

◆ ConstraintInequality

typedef math::ConstraintInequality tsid::tasks::TaskJointPosVelAccBounds::ConstraintInequality

Definition at line 42 of file tasks/task-joint-posVelAcc-bounds.hpp.

◆ Data

typedef pinocchio::Data tsid::tasks::TaskJointPosVelAccBounds::Data

Definition at line 44 of file tasks/task-joint-posVelAcc-bounds.hpp.

◆ VectorXi

typedef math::VectorXi tsid::tasks::TaskJointPosVelAccBounds::VectorXi

Definition at line 43 of file tasks/task-joint-posVelAcc-bounds.hpp.

Constructor & Destructor Documentation

◆ TaskJointPosVelAccBounds()

tsid::tasks::TaskJointPosVelAccBounds::TaskJointPosVelAccBounds	(	const std::string &	name,
		RobotWrapper &	robot,
		double	dt,
		bool	verbose = `true`
	)

Definition at line 35 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

Member Function Documentation

◆ compute()

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

overridevirtual

Implements tsid::tasks::TaskBase.

Definition at line 201 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ computeAccLimits()

void tsid::tasks::TaskJointPosVelAccBounds::computeAccLimits	(	ConstRefVector	q,
		ConstRefVector	dq,
		bool	verbose = `true`
	)

Given the current position and velocity, the bounds of position, velocity and acceleration and the control time step, compute the bounds of the acceleration such that all the bounds are respected at the next time step and can be respected in the future. ddqMax is the absolute maximum acceleration.

Definition at line 369 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ computeAccLimitsFromPosLimits()

void tsid::tasks::TaskJointPosVelAccBounds::computeAccLimitsFromPosLimits	(	ConstRefVector	q,
		ConstRefVector	dq,
		bool	verbose = `true`
	)

Compute acceleration limits imposed by position bounds. Fills in m_ddqLBPos and m_ddqUBPos

Definition at line 279 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ computeAccLimitsFromViability()

void tsid::tasks::TaskJointPosVelAccBounds::computeAccLimitsFromViability	(	ConstRefVector	q,
		ConstRefVector	dq,
		bool	verbose = `true`
	)

Compute acceleration limits imposed by viability. ddqMax is the maximum acceleration that will be necessary to stop the joint before hitting the position limits.

-sqrt( 2*ddqMax*(q-qMin) ) < dq[t+1] < sqrt( 2*ddqMax*(qMax-q) ) ddqMin[2] = (-sqrt(max(0.0, 2*MAX_ACC*(q[i]+DT*dq[i]-qMin))) - dq[i])/DT; ddqMax[2] = (sqrt(max(0.0, 2*MAX_ACC*(qMax-q[i]-DT*dq[i]))) - dq[i])/DT;

Fills in m_ddqLBVia and m_ddqUBVia

Definition at line 323 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ dim()

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

overridevirtual

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

Implements tsid::tasks::TaskBase.

Definition at line 138 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ getAccelerationBounds()

const Vector & tsid::tasks::TaskJointPosVelAccBounds::getAccelerationBounds ( ) const

Definition at line 140 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ getConstraint()

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

overridevirtual

Implements tsid::tasks::TaskBase.

Definition at line 197 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ getPositionLowerBounds()

const Vector & tsid::tasks::TaskJointPosVelAccBounds::getPositionLowerBounds ( ) const

Definition at line 148 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ getPositionUpperBounds()

const Vector & tsid::tasks::TaskJointPosVelAccBounds::getPositionUpperBounds ( ) const

Definition at line 152 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ getVelocityBounds()

const Vector & tsid::tasks::TaskJointPosVelAccBounds::getVelocityBounds ( ) const

Definition at line 144 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ isStateViable()

void tsid::tasks::TaskJointPosVelAccBounds::isStateViable	(	ConstRefVector	q,
		ConstRefVector	dq,
		bool	verbose = `true`
	)

Check if the state is viable, otherwise it returns a measure of the violation of the violated inequality. Fills in m_viabViol , if the state of joint i is viable m_viabViol[i] = 0

Definition at line 225 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ mask() [1/2]

const Vector & tsid::tasks::TaskJointPosVelAccBounds::mask ( ) const

Definition at line 109 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ mask() [2/2]

void tsid::tasks::TaskJointPosVelAccBounds::mask ( const Vector & mask )

Definition at line 111 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ setAccelerationBounds()

void tsid::tasks::TaskJointPosVelAccBounds::setAccelerationBounds ( ConstRefVector upper )

Definition at line 188 of file src/tasks/task-joint-posVelAcc-bounds.cpp.

◆ setImposeBounds()

void tsid::tasks::TaskJointPosVelAccBounds::setImposeBounds	(	bool	impose_position_bounds,
		bool	impose_velocity_bounds,
		bool	impose_viability_bounds,
		bool	impose_acceleration_bounds
	)