#include <tsid/tasks/task-se3-equality.hpp>
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| TaskSE3Equality (const std::string &name, RobotWrapper &robot, const std::string &frameName) |
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int | dim () const |
| Return the dimension of the task. \info should be overloaded in the child class. More...
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const ConstraintBase & | compute (const double t, ConstRefVector q, ConstRefVector v, Data &data) |
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const ConstraintBase & | getConstraint () const |
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void | setReference (TrajectorySample &ref) |
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void | setReference (const SE3 &ref) |
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const TrajectorySample & | getReference () const |
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const Vector & | getDesiredAcceleration () const |
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Vector | getAcceleration (ConstRefVector dv) const |
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virtual void | setMask (math::ConstRefVector mask) |
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const Vector & | position_error () const |
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const Vector & | velocity_error () const |
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const Vector & | position () const |
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const Vector & | velocity () const |
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const Vector & | position_ref () const |
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const Vector & | velocity_ref () const |
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const Vector & | Kp () const |
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const Vector & | Kd () const |
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void | Kp (ConstRefVector Kp) |
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void | Kd (ConstRefVector Kp) |
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Index | frame_id () const |
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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...
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| TaskMotion (const std::string &name, RobotWrapper &robot) |
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virtual const TrajectorySample & | getReference () const |
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virtual const Vector & | getDesiredAcceleration () const |
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virtual Vector | getAcceleration (ConstRefVector dv) const |
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virtual const Vector & | position_error () const |
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virtual const Vector & | velocity_error () const |
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virtual const Vector & | position () const |
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virtual const Vector & | velocity () const |
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virtual const Vector & | position_ref () const |
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virtual const Vector & | velocity_ref () const |
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virtual void | setMask (math::ConstRefVector mask) |
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virtual const Vector & | getMask () const |
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virtual bool | hasMask () |
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| TaskBase (const std::string &name, RobotWrapper &robot) |
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const std::string & | name () const |
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void | name (const std::string &name) |
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virtual int | dim () const =0 |
| Return the dimension of the task. \info should be overloaded in the child class. More...
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virtual const ConstraintBase & | compute (const double t, ConstRefVector q, ConstRefVector v, Data &data)=0 |
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virtual const ConstraintBase & | getConstraint () const =0 |
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◆ ConstraintEquality
◆ Data
◆ Matrix6x
◆ Motion
◆ SE3
◆ TrajectorySample
◆ Vector
◆ TaskSE3Equality()
tsid::tasks::TaskSE3Equality::TaskSE3Equality |
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const std::string & |
name, |
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RobotWrapper & |
robot, |
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const std::string & |
frameName |
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) |
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◆ compute()
◆ dim()
int tsid::tasks::TaskSE3Equality::dim |
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const |
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Return the dimension of the task. \info should be overloaded in the child class.
Implements tsid::tasks::TaskBase.
◆ frame_id()
Index tsid::tasks::TaskSE3Equality::frame_id |
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◆ getAcceleration()
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.
◆ getConstraint()
const ConstraintBase & tsid::tasks::TaskSE3Equality::getConstraint |
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const |
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◆ getDesiredAcceleration()
const Vector & tsid::tasks::TaskSE3Equality::getDesiredAcceleration |
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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.
◆ getReference()
◆ Kd() [1/2]
const Vector & tsid::tasks::TaskSE3Equality::Kd |
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◆ Kd() [2/2]
◆ Kp() [1/2]
const Vector & tsid::tasks::TaskSE3Equality::Kp |
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const |
◆ Kp() [2/2]
◆ position()
const Vector & tsid::tasks::TaskSE3Equality::position |
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const |
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◆ position_error()
const Vector & tsid::tasks::TaskSE3Equality::position_error |
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const |
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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.
◆ position_ref()
const Vector & tsid::tasks::TaskSE3Equality::position_ref |
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const |
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◆ setMask()
◆ setReference() [1/2]
void tsid::tasks::TaskSE3Equality::setReference |
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const SE3 & |
ref | ) |
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◆ setReference() [2/2]
◆ useLocalFrame()
void tsid::tasks::TaskSE3Equality::useLocalFrame |
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bool |
local_frame | ) |
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Specifies if the jacobian and desired acceloration should be expressed in the local frame or the local world-oriented frame.
- Parameters
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local_frame | If true, represent jacobian and acceloration in the local frame. If false, represent them in the local world-oriented frame. |
◆ velocity()
const Vector & tsid::tasks::TaskSE3Equality::velocity |
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const |
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◆ velocity_error()
const Vector & tsid::tasks::TaskSE3Equality::velocity_error |
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const |
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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.
◆ velocity_ref()
const Vector & tsid::tasks::TaskSE3Equality::velocity_ref |
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const |
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◆ Index
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskSE3Equality::Index |
◆ m_a_des
Vector tsid::tasks::TaskSE3Equality::m_a_des |
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◆ m_a_des_masked
Vector tsid::tasks::TaskSE3Equality::m_a_des_masked |
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◆ m_a_ref
Motion tsid::tasks::TaskSE3Equality::m_a_ref |
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◆ m_constraint
◆ m_drift
Motion tsid::tasks::TaskSE3Equality::m_drift |
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◆ m_drift_masked
Vector tsid::tasks::TaskSE3Equality::m_drift_masked |
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◆ m_frame_id
Index tsid::tasks::TaskSE3Equality::m_frame_id |
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◆ m_frame_name
std::string tsid::tasks::TaskSE3Equality::m_frame_name |
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◆ m_J
Matrix6x tsid::tasks::TaskSE3Equality::m_J |
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◆ m_J_rotated
Matrix6x tsid::tasks::TaskSE3Equality::m_J_rotated |
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◆ m_Kd
Vector tsid::tasks::TaskSE3Equality::m_Kd |
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◆ m_Kp
Vector tsid::tasks::TaskSE3Equality::m_Kp |
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◆ m_local_frame
bool tsid::tasks::TaskSE3Equality::m_local_frame |
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◆ m_M_ref
SE3 tsid::tasks::TaskSE3Equality::m_M_ref |
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◆ m_p
Vector tsid::tasks::TaskSE3Equality::m_p |
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◆ m_p_error
Motion tsid::tasks::TaskSE3Equality::m_p_error |
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◆ m_p_error_masked_vec
Vector tsid::tasks::TaskSE3Equality::m_p_error_masked_vec |
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◆ m_p_error_vec
Vector tsid::tasks::TaskSE3Equality::m_p_error_vec |
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◆ m_p_ref
Vector tsid::tasks::TaskSE3Equality::m_p_ref |
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◆ m_ref
◆ m_v
Vector tsid::tasks::TaskSE3Equality::m_v |
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◆ m_v_error
Motion tsid::tasks::TaskSE3Equality::m_v_error |
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◆ m_v_error_masked_vec
Vector tsid::tasks::TaskSE3Equality::m_v_error_masked_vec |
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◆ m_v_error_vec
Vector tsid::tasks::TaskSE3Equality::m_v_error_vec |
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◆ m_v_ref
Motion tsid::tasks::TaskSE3Equality::m_v_ref |
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◆ m_v_ref_vec
Vector tsid::tasks::TaskSE3Equality::m_v_ref_vec |
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◆ m_wMl
SE3 tsid::tasks::TaskSE3Equality::m_wMl |
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The documentation for this class was generated from the following files: