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task-joint-bounds.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_bounds_hpp__
19#define __invdyn_task_joint_bounds_hpp__
20
23
24namespace tsid
25{
26 namespace tasks
27 {
28
30 {
31 public:
32 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
33
36 typedef pinocchio::Data Data;
37
38 TaskJointBounds(const std::string & name,
39 RobotWrapper & robot,
40 double dt);
41
42 int dim() const;
43
44 const ConstraintBase & compute(const double t,
47 Data & data);
48
49 const ConstraintBase & getConstraint() const;
50
51 void setTimeStep(double dt);
54 const Vector & getAccelerationLowerBounds() const;
55 const Vector & getAccelerationUpperBounds() const;
56 const Vector & getVelocityLowerBounds() const;
57 const Vector & getVelocityUpperBounds() const;
58
59 virtual void setMask(math::ConstRefVector mask);
60
61 protected:
66 double m_dt;
67 int m_nv, m_na;
68 };
69
70 }
71}
72
73#endif // ifndef __invdyn_task_joint_bounds_hpp__
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:37
Definition: constraint-bound.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-bounds.hpp:30
math::ConstraintBound ConstraintBound
Definition: task-joint-bounds.hpp:35
Vector m_v_ub
Definition: task-joint-bounds.hpp:62
Vector m_a_ub
Definition: task-joint-bounds.hpp:63
void setTimeStep(double dt)
Definition: task-joint-bounds.cpp:69
ConstraintBound m_constraint
Definition: task-joint-bounds.hpp:65
double m_dt
Definition: task-joint-bounds.hpp:66
const Vector & getVelocityUpperBounds() const
Definition: task-joint-bounds.cpp:66
Vector m_a_lb
Definition: task-joint-bounds.hpp:63
const Vector & getVelocityLowerBounds() const
Definition: task-joint-bounds.cpp:63
void setVelocityBounds(ConstRefVector lower, ConstRefVector upper)
Definition: task-joint-bounds.cpp:75
Vector m_ddq_min_due_to_vel
Definition: task-joint-bounds.hpp:64
int m_na
Definition: task-joint-bounds.hpp:67
const ConstraintBase & getConstraint() const
Definition: task-joint-bounds.cpp:91
Vector m_ddq_max_due_to_vel
Definition: task-joint-bounds.hpp:64
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector Vector
Definition: task-joint-bounds.hpp:34
int m_nv
Definition: task-joint-bounds.hpp:67
virtual void setMask(math::ConstRefVector mask)
Definition: task-joint-bounds.cpp:96
const Vector & getAccelerationUpperBounds() const
Definition: task-joint-bounds.cpp:60
void setAccelerationBounds(ConstRefVector lower, ConstRefVector upper)
Definition: task-joint-bounds.cpp:83
pinocchio::Data Data
Definition: task-joint-bounds.hpp:36
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-joint-bounds.cpp:54
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-joint-bounds.cpp:101
const Vector & getAccelerationLowerBounds() const
Definition: task-joint-bounds.cpp:57
Vector m_v_lb
Definition: task-joint-bounds.hpp:62
Definition: task-motion.hpp:29
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Definition: constraint-bound.hpp:27