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task-motion.hpp
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1//
2// Copyright (c) 2017 CNRS, NYU, MPI Tübingen
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_motion_hpp__
19#define __invdyn_task_motion_hpp__
20
23
24namespace tsid
25{
26 namespace tasks
27 {
28 class TaskMotion : public TaskBase
29 {
30 public:
31 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
32
35
36 TaskMotion(const std::string & name,
37 RobotWrapper & robot);
38
39 virtual const TrajectorySample & getReference() const;
40
41 virtual const Vector & getDesiredAcceleration() const;
42
43 virtual Vector getAcceleration(ConstRefVector dv) const;
44
45 virtual const Vector & position_error() const;
46 virtual const Vector & velocity_error() const;
47 virtual const Vector & position() const;
48 virtual const Vector & velocity() const;
49 virtual const Vector & position_ref() const;
50 virtual const Vector & velocity_ref() const;
51
52 virtual void setMask(math::ConstRefVector mask);
53 virtual const Vector & getMask() const;
54 virtual bool hasMask();
55
56 protected:
60 };
61 }
62}
63
64#endif // ifndef __invdyn_task_motion_hpp__
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:41
Base template of a Task. Each class is defined according to a constant model of a robot.
Definition: task-base.hpp:37
const std::string & name() const
Definition: task-base.cpp:30
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
Definition: task-motion.hpp:29
virtual const Vector & getMask() const
Definition: task-motion.cpp:43
Vector m_dummy
Definition: task-motion.hpp:58
virtual const Vector & velocity() const
Definition: task-motion.cpp:54
virtual const Vector & velocity_error() const
Definition: task-motion.cpp:52
virtual const Vector & velocity_ref() const
Definition: task-motion.cpp:56
Vector m_mask
Definition: task-motion.hpp:57
virtual void setMask(math::ConstRefVector mask)
Definition: task-motion.cpp:33
trajectories::TrajectorySample TrajectorySample
Definition: task-motion.hpp:34
trajectories::TrajectorySample TrajectorySample_dummy
Definition: task-motion.hpp:59
virtual const TrajectorySample & getReference() const
Definition: task-motion.cpp:45
virtual const Vector & position() const
Definition: task-motion.cpp:53
virtual Vector getAcceleration(ConstRefVector dv) const
Definition: task-motion.cpp:49
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector Vector
Definition: task-motion.hpp:33
virtual const Vector & position_ref() const
Definition: task-motion.cpp:55
virtual bool hasMask()
Definition: task-motion.cpp:38
virtual const Vector & position_error() const
Definition: task-motion.cpp:51
virtual const Vector & getDesiredAcceleration() const
Definition: task-motion.cpp:47
Definition: trajectory-base.hpp:36
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