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task-joint-posture.hpp
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1//
2// Copyright (c) 2017 CNRS
3//
4// This file is part of tsid
5// tsid is free software: you can redistribute it
6// and/or modify it under the terms of the GNU Lesser General Public
7// License as published by the Free Software Foundation, either version
8// 3 of the License, or (at your option) any later version.
9// tsid is distributed in the hope that it will be
10// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12// General Lesser Public License for more details. You should have
13// received a copy of the GNU Lesser General Public License along with
14// tsid If not, see
15// <http://www.gnu.org/licenses/>.
16//
17
18#ifndef __invdyn_task_joint_posture_hpp__
19#define __invdyn_task_joint_posture_hpp__
20
24#include <tsid/deprecated.hh>
25
26namespace tsid
27{
28 namespace tasks
29 {
30
32 {
33 public:
34 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
35
41 typedef pinocchio::Data Data;
42
43 TaskJointPosture(const std::string & name,
44 RobotWrapper & robot);
45
46 int dim() const;
47
48 const ConstraintBase & compute(const double t,
51 Data & data);
52
53 const ConstraintBase & getConstraint() const;
54
55 void setReference(const TrajectorySample & ref);
56 const TrajectorySample & getReference() const;
57
58 const Vector & getDesiredAcceleration() const;
60
61 TSID_DEPRECATED const Vector & mask() const; // deprecated
62 TSID_DEPRECATED void mask(const Vector & mask); // deprecated
63 virtual void setMask(math::ConstRefVector mask);
64
65 const Vector & position_error() const;
66 const Vector & velocity_error() const;
67 const Vector & position() const;
68 const Vector & velocity() const;
69 const Vector & position_ref() const;
70 const Vector & velocity_ref() const;
71
72 const Vector & Kp();
73 const Vector & Kd();
74 void Kp(ConstRefVector Kp);
75 void Kd(ConstRefVector Kp);
76
77 protected:
87 };
88
89 }
90}
91
92#endif // ifndef __invdyn_task_joint_posture_hpp__
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:37
Definition: constraint-equality.hpp:29
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:41
const std::string & name() const
Definition: task-base.cpp:30
Definition: task-joint-posture.hpp:32
const Vector & position() const
Definition: task-joint-posture.cpp:128
Vector m_Kp
Definition: task-joint-posture.hpp:78
trajectories::TrajectorySample TrajectorySample
Definition: task-joint-posture.hpp:37
const Vector & velocity() const
Definition: task-joint-posture.cpp:133
TrajectorySample m_ref
Definition: task-joint-posture.hpp:84
void setReference(const TrajectorySample &ref)
Definition: task-joint-posture.cpp:95
const Vector & getDesiredAcceleration() const
Definition: task-joint-posture.cpp:108
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-joint-posture.cpp:74
Vector m_p_error
Definition: task-joint-posture.hpp:80
const Vector & velocity_ref() const
Definition: task-joint-posture.cpp:143
const Vector & position_error() const
Definition: task-joint-posture.cpp:118
Vector m_ref_q_augmented
Definition: task-joint-posture.hpp:85
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-joint-posture.hpp:36
Vector m_p
Definition: task-joint-posture.hpp:81
const Vector & Kd()
Definition: task-joint-posture.cpp:81
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-joint-posture.cpp:153
virtual void setMask(math::ConstRefVector mask)
Definition: task-joint-posture.cpp:54
Vector m_v
Definition: task-joint-posture.hpp:81
Vector m_v_error
Definition: task-joint-posture.hpp:80
VectorXi m_activeAxes
Definition: task-joint-posture.hpp:83
const Vector & Kp()
Definition: task-joint-posture.cpp:79
math::Vector Vector
Definition: task-joint-posture.hpp:38
ConstraintEquality m_constraint
Definition: task-joint-posture.hpp:86
pinocchio::Data Data
Definition: task-joint-posture.hpp:41
const ConstraintBase & getConstraint() const
Definition: task-joint-posture.cpp:148
const Vector & position_ref() const
Definition: task-joint-posture.cpp:138
TSID_DEPRECATED const Vector & mask() const
Definition: task-joint-posture.cpp:43
Vector m_a_des
Definition: task-joint-posture.hpp:82
Vector getAcceleration(ConstRefVector dv) const
Definition: task-joint-posture.cpp:113
const TrajectorySample & getReference() const
Definition: task-joint-posture.cpp:103
const Vector & velocity_error() const
Definition: task-joint-posture.cpp:123
math::ConstraintEquality ConstraintEquality
Definition: task-joint-posture.hpp:40
math::VectorXi VectorXi
Definition: task-joint-posture.hpp:39
Vector m_Kd
Definition: task-joint-posture.hpp:79
Definition: task-motion.hpp:29
Definition: trajectory-base.hpp:36
#define TSID_DEPRECATED
Definition: deprecated.hh:37
std::size_t Index
Definition: fwd.hpp:55
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
Definition: constraint-bound.hpp:27