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task-angular-momentum-equality.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_am_equality_hpp__
19#define __invdyn_task_am_equality_hpp__
20
21#include "tsid/math/fwd.hpp"
25
26#include <pinocchio/multibody/model.hpp>
27#include <pinocchio/multibody/data.hpp>
28
29namespace tsid
30{
31 namespace tasks
32 {
33
35 {
36 public:
37 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
38
44 typedef pinocchio::Data::Matrix6x Matrix6x;
45
46
47 TaskAMEquality(const std::string & name,
48 RobotWrapper & robot);
49
50 int dim() const;
51
52 const ConstraintBase & compute(const double t,
55 Data & data);
56
57 const ConstraintBase & getConstraint() const;
58
59 void setReference(const TrajectorySample & ref);
60 const TrajectorySample & getReference() const;
61
64
65 const Vector3 & momentum_error() const;
66 const Vector3 & momentum() const;
67 const Vector & momentum_ref() const;
68 const Vector & dmomentum_ref() const;
69
70 const Vector3 & Kp();
71 const Vector3 & Kd();
72 void Kp(ConstRefVector Kp);
73 void Kd(ConstRefVector Kp);
74
75 protected:
80
85 };
86
87 }
88}
89
90#endif // ifndef __invdyn_task_am_equality_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
Definition: task-angular-momentum-equality.hpp:35
Vector3 m_dL_des
Definition: task-angular-momentum-equality.hpp:79
Vector3 m_dL
Definition: task-angular-momentum-equality.hpp:82
math::Vector Vector
Definition: task-angular-momentum-equality.hpp:41
Vector3 m_L
Definition: task-angular-momentum-equality.hpp:82
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-angular-momentum-equality.cpp:112
ConstraintEquality m_constraint
Definition: task-angular-momentum-equality.hpp:84
Vector3 m_drift
Definition: task-angular-momentum-equality.hpp:81
const Vector3 & momentum_error() const
Definition: task-angular-momentum-equality.cpp:88
void setReference(const TrajectorySample &ref)
Definition: task-angular-momentum-equality.cpp:68
Vector3 m_Kp
Definition: task-angular-momentum-equality.hpp:76
pinocchio::Data::Matrix6x Matrix6x
Definition: task-angular-momentum-equality.hpp:44
Vector3 m_Kd
Definition: task-angular-momentum-equality.hpp:77
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-angular-momentum-equality.cpp:46
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-angular-momentum-equality.hpp:39
Vector3 m_dL_error
Definition: task-angular-momentum-equality.hpp:78
Vector3 getdMomentum(ConstRefVector dv) const
Definition: task-angular-momentum-equality.cpp:83
const TrajectorySample & getReference() const
Definition: task-angular-momentum-equality.cpp:73
math::Vector3 Vector3
Definition: task-angular-momentum-equality.hpp:42
const Vector & dmomentum_ref() const
Definition: task-angular-momentum-equality.cpp:102
const ConstraintBase & getConstraint() const
Definition: task-angular-momentum-equality.cpp:107
trajectories::TrajectorySample TrajectorySample
Definition: task-angular-momentum-equality.hpp:40
Vector3 m_L_error
Definition: task-angular-momentum-equality.hpp:78
const Vector3 & getDesiredMomentumDerivative() const
Definition: task-angular-momentum-equality.cpp:78
const Vector & momentum_ref() const
Definition: task-angular-momentum-equality.cpp:97
const Vector3 & Kp()
Definition: task-angular-momentum-equality.cpp:52
const Vector3 & Kd()
Definition: task-angular-momentum-equality.cpp:54
TrajectorySample m_ref
Definition: task-angular-momentum-equality.hpp:83
math::ConstraintEquality ConstraintEquality
Definition: task-angular-momentum-equality.hpp:43
const Vector3 & momentum() const
Definition: task-angular-momentum-equality.cpp:93
const std::string & name() const
Definition: task-base.cpp:30
pinocchio::Data Data
Definition: task-base.hpp:43
Definition: task-motion.hpp:29
Definition: trajectory-base.hpp:36
std::size_t Index
Definition: fwd.hpp:55
Eigen::Matrix< Scalar, 3, 1 > Vector3
Definition: fwd.hpp:42
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