#include <tsid/tasks/task-actuation-equality.hpp>
Public Types | |
typedef math::Vector | Vector |
typedef math::VectorXi | VectorXi |
typedef math::ConstraintEquality | ConstraintEquality |
typedef pinocchio::Data | Data |
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typedef math::ConstRefVector | ConstRefVector |
typedef pinocchio::Data | Data |
typedef robots::RobotWrapper | RobotWrapper |
Public Member Functions | |
TaskActuationEquality (const std::string &name, RobotWrapper &robot) | |
int | dim () const |
Return the dimension of the task. \info should be overloaded in the child class. More... | |
const ConstraintBase & | compute (const double t, ConstRefVector q, ConstRefVector v, Data &data) |
const ConstraintBase & | getConstraint () const |
void | setReference (math::ConstRefVector ref) |
const Vector & | getReference () const |
void | setWeightVector (math::ConstRefVector weights) |
const Vector & | getWeightVector () const |
const Vector & | mask () const |
void | mask (const Vector &mask) |
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TaskActuation (const std::string &name, RobotWrapper &robot) | |
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TaskBase (const std::string &name, RobotWrapper &robot) | |
const std::string & | name () const |
void | name (const std::string &name) |
virtual int | dim () const =0 |
Return the dimension of the task. \info should be overloaded in the child class. More... | |
virtual const ConstraintBase & | compute (const double t, ConstRefVector q, ConstRefVector v, Data &data)=0 |
virtual const ConstraintBase & | getConstraint () const =0 |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index | Index |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase | ConstraintBase |
Protected Attributes | |
Vector | m_mask |
VectorXi | m_activeAxes |
Vector | m_ref |
Vector | m_weights |
ConstraintEquality | m_constraint |
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std::string | m_name |
RobotWrapper & | m_robot |
Reference on the robot model. More... | |
typedef pinocchio::Data tsid::tasks::TaskActuationEquality::Data |
tsid::tasks::TaskActuationEquality::TaskActuationEquality | ( | const std::string & | name, |
RobotWrapper & | robot | ||
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Implements tsid::tasks::TaskBase.
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Return the dimension of the task. \info should be overloaded in the child class.
Implements tsid::tasks::TaskBase.
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Implements tsid::tasks::TaskBase.
const Vector & tsid::tasks::TaskActuationEquality::getReference | ( | ) | const |
const Vector & tsid::tasks::TaskActuationEquality::getWeightVector | ( | ) | const |
const Vector & tsid::tasks::TaskActuationEquality::mask | ( | ) | const |
void tsid::tasks::TaskActuationEquality::mask | ( | const Vector & | mask | ) |
void tsid::tasks::TaskActuationEquality::setReference | ( | math::ConstRefVector | ref | ) |
void tsid::tasks::TaskActuationEquality::setWeightVector | ( | math::ConstRefVector | weights | ) |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskActuationEquality::Index |
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