#include <task-se3-equality.hpp>

Inheritance diagram for tsid::tasks::TaskSE3Equality:

Public Types
typedef math::ConstraintEquality	ConstraintEquality

typedef pinocchio::Data	Data

typedef pinocchio::Data::Matrix6x	Matrix6x

typedef pinocchio::Motion	Motion

typedef pinocchio::SE3	SE3

typedef trajectories::TrajectorySample	TrajectorySample

typedef math::Vector	Vector

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 (const 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...

Index	frame_id () const

Vector	getAcceleration (ConstRefVector dv) const override

const ConstraintBase &	getConstraint () const override

const Vector &	getDesiredAcceleration () const override

const TrajectorySample &	getReference () const override

const Vector &	Kd () const

void	Kd (ConstRefVector Kp)

const Vector &	Kp () const

void	Kp (ConstRefVector Kp)

const Vector &	position () const override

const Vector &	position_error () const override

const Vector &	position_ref () const override

virtual void	setMask (math::ConstRefVector mask) override

void	setReference (const SE3 &ref)

void	setReference (TrajectorySample &ref)

	TaskSE3Equality (const std::string &name, RobotWrapper &robot, const std::string &frameName)

void	useLocalFrame (bool local_frame)
	Specifies if the jacobian and desired acceloration should be expressed in the local frame or the local world-oriented frame. More...

const Vector &	velocity () const override

const Vector &	velocity_error () const override

const Vector &	velocity_ref () const override

Public Member Functions inherited from tsid::tasks::TaskMotion
virtual const Vector &	getMask () const

virtual bool	hasMask ()

	TaskMotion (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::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	m_a_des

Vector	m_a_des_masked

Motion	m_a_ref

ConstraintEquality	m_constraint

Motion	m_drift

Vector	m_drift_masked

Index	m_frame_id

std::string	m_frame_name

Matrix6x	m_J

Matrix6x	m_J_rotated

Vector	m_Kd

Vector	m_Kp

bool	m_local_frame

SE3	m_M_ref

Vector	m_p

Motion	m_p_error

Vector	m_p_error_masked_vec

Vector	m_p_error_vec

Vector	m_p_ref

TrajectorySample	m_ref

Vector	m_v

Motion	m_v_error

Vector	m_v_error_masked_vec

Vector	m_v_error_vec

Motion	m_v_ref

Vector	m_v_ref_vec

SE3	m_wMl

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 tasks/task-se3-equality.hpp.

Member Typedef Documentation

◆ ConstraintEquality

typedef math::ConstraintEquality tsid::tasks::TaskSE3Equality::ConstraintEquality

Definition at line 38 of file tasks/task-se3-equality.hpp.

◆ Data

typedef pinocchio::Data tsid::tasks::TaskSE3Equality::Data

Definition at line 39 of file tasks/task-se3-equality.hpp.

◆ Matrix6x

typedef pinocchio::Data::Matrix6x tsid::tasks::TaskSE3Equality::Matrix6x

Definition at line 40 of file tasks/task-se3-equality.hpp.

◆ Motion

typedef pinocchio::Motion tsid::tasks::TaskSE3Equality::Motion

Definition at line 41 of file tasks/task-se3-equality.hpp.

◆ SE3

typedef pinocchio::SE3 tsid::tasks::TaskSE3Equality::SE3

Definition at line 42 of file tasks/task-se3-equality.hpp.

◆ TrajectorySample

typedef trajectories::TrajectorySample tsid::tasks::TaskSE3Equality::TrajectorySample

Definition at line 36 of file tasks/task-se3-equality.hpp.

◆ Vector

typedef math::Vector tsid::tasks::TaskSE3Equality::Vector

Definition at line 37 of file tasks/task-se3-equality.hpp.

Constructor & Destructor Documentation

◆ TaskSE3Equality()

tsid::tasks::TaskSE3Equality::TaskSE3Equality	(	const std::string &	name,
		RobotWrapper &	robot,
		const std::string &	frameName
	)

Definition at line 29 of file src/tasks/task-se3-equality.cpp.

Member Function Documentation

◆ compute()

const ConstraintBase & tsid::tasks::TaskSE3Equality::compute	(	const double	t,
		ConstRefVector	q,
		ConstRefVector	v,
		Data &	data
	)

overridevirtual

Implements tsid::tasks::TaskBase.

Definition at line 149 of file src/tasks/task-se3-equality.cpp.

◆ dim()

int tsid::tasks::TaskSE3Equality::dim ( ) const

overridevirtual

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

Implements tsid::tasks::TaskBase.

Definition at line 73 of file src/tasks/task-se3-equality.cpp.

◆ frame_id()

Index tsid::tasks::TaskSE3Equality::frame_id ( ) const

Definition at line 139 of file src/tasks/task-se3-equality.cpp.

◆ getAcceleration()

Vector tsid::tasks::TaskSE3Equality::getAcceleration ( ConstRefVector dv ) const

overridevirtual

Return the task acceleration (after applying the specified mask). The value is expressed in local frame is the local_frame flag is true, otherwise it is expressed in a local world-oriented frame.

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 135 of file src/tasks/task-se3-equality.cpp.

◆ getConstraint()

const ConstraintBase & tsid::tasks::TaskSE3Equality::getConstraint ( ) const

overridevirtual

Implements tsid::tasks::TaskBase.

Definition at line 141 of file src/tasks/task-se3-equality.cpp.

◆ getDesiredAcceleration()

const Vector & tsid::tasks::TaskSE3Equality::getDesiredAcceleration ( ) const

overridevirtual

Return the desired task acceleration (after applying the specified mask). The value is expressed in local frame is the local_frame flag is true, otherwise it is expressed in a local world-oriented frame.

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 131 of file src/tasks/task-se3-equality.cpp.

◆ getReference()

const TrajectorySample & tsid::tasks::TaskSE3Equality::getReference ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 113 of file src/tasks/task-se3-equality.cpp.

◆ Kd() [1/2]

const Vector & tsid::tasks::TaskSE3Equality::Kd ( ) const

Definition at line 77 of file src/tasks/task-se3-equality.cpp.

◆ Kd() [2/2]

void tsid::tasks::TaskSE3Equality::Kd ( ConstRefVector Kp )

Definition at line 85 of file src/tasks/task-se3-equality.cpp.

◆ Kp() [1/2]

const Vector & tsid::tasks::TaskSE3Equality::Kp ( ) const

Definition at line 75 of file src/tasks/task-se3-equality.cpp.

◆ Kp() [2/2]

void tsid::tasks::TaskSE3Equality::Kp ( ConstRefVector Kp )

Definition at line 79 of file src/tasks/task-se3-equality.cpp.

◆ position()

const Vector & tsid::tasks::TaskSE3Equality::position ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 123 of file src/tasks/task-se3-equality.cpp.

◆ position_error()

const Vector & tsid::tasks::TaskSE3Equality::position_error ( ) const

overridevirtual

Return the position tracking error (after applying the specified mask). The error is expressed in local frame is the local_frame flag is true, otherwise it is expressed in a local world-oriented frame.

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 115 of file src/tasks/task-se3-equality.cpp.

◆ position_ref()

const Vector & tsid::tasks::TaskSE3Equality::position_ref ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 127 of file src/tasks/task-se3-equality.cpp.

◆ setMask()

void tsid::tasks::TaskSE3Equality::setMask ( math::ConstRefVector mask )

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 63 of file src/tasks/task-se3-equality.cpp.

◆ setReference() [1/2]

void tsid::tasks::TaskSE3Equality::setReference ( const SE3 & ref )

Definition at line 104 of file src/tasks/task-se3-equality.cpp.

◆ setReference() [2/2]

void tsid::tasks::TaskSE3Equality::setReference ( TrajectorySample & ref )

Definition at line 91 of file src/tasks/task-se3-equality.cpp.

◆ useLocalFrame()

void tsid::tasks::TaskSE3Equality::useLocalFrame ( bool local_frame )

Specifies if the jacobian and desired acceloration should be expressed in the local frame or the local world-oriented frame.

Parameters

local_frame If true, represent jacobian and acceloration in the local frame. If false, represent them in the local world-oriented frame.

Definition at line 145 of file src/tasks/task-se3-equality.cpp.

◆ velocity()

const Vector & tsid::tasks::TaskSE3Equality::velocity ( ) const

overridevirtual

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 125 of file src/tasks/task-se3-equality.cpp.

◆ velocity_error()

const Vector & tsid::tasks::TaskSE3Equality::velocity_error ( ) const

overridevirtual

Return the velocity tracking error (after applying the specified mask). The error is expressed in local frame is the local_frame flag is true, otherwise it is expressed in a local world-oriented frame.

Reimplemented from tsid::tasks::TaskMotion.

Definition at line 119 of file src/tasks/task-se3-equality.cpp.