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task-contact-force.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_contact_force_hpp__
19#define __invdyn_task_contact_force_hpp__
20
23#include <memory>
24
25
26namespace tsid
27{
28 namespace tasks
29 {
31 {
32 public:
33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
34
35 TaskContactForce(const std::string & name,
36 RobotWrapper & robot);
37
43 virtual const ConstraintBase & compute(const double t,
46 Data & data,
47 const std::vector<std::shared_ptr<ContactLevel> > *contacts) = 0;
48
53 virtual const std::string& getAssociatedContactName() = 0;
54 };
55 }
56}
57
58#endif // ifndef __invdyn_task_contact_force_hpp__
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:37
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
pinocchio::Data Data
Definition: task-base.hpp:43
Definition: task-contact-force.hpp:31
virtual const std::string & getAssociatedContactName()=0
virtual const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data, const std::vector< std::shared_ptr< ContactLevel > > *contacts)=0
Definition: constraint-bound.hpp:27