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task-actuation-bounds.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_actuation_bounds_hpp__
19#define __invdyn_task_actuation_bounds_hpp__
20
24
25namespace tsid
26{
27 namespace tasks
28 {
29
31 {
32 public:
33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
34
40 typedef pinocchio::Data Data;
41
42 TaskActuationBounds(const std::string & name,
43 RobotWrapper & robot);
44
45 int dim() const;
46
47 const ConstraintBase & compute(const double t,
50 Data & data);
51
52 const ConstraintBase & getConstraint() const;
53
54 void setBounds(ConstRefVector lower, ConstRefVector upper);
55 const Vector & getLowerBounds() const;
56 const Vector & getUpperBounds() const;
57
58 const Vector & mask() const;
59 void mask(const Vector & mask);
60
61 protected:
65 };
66
67 }
68}
69
70#endif // ifndef __invdyn_task_actuation_bounds_hpp__
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:37
Definition: constraint-inequality.hpp:29
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:41
Definition: task-actuation-bounds.hpp:31
trajectories::TrajectorySample TrajectorySample
Definition: task-actuation-bounds.hpp:36
pinocchio::Data Data
Definition: task-actuation-bounds.hpp:40
math::VectorXi VectorXi
Definition: task-actuation-bounds.hpp:38
const Vector & mask() const
Definition: task-actuation-bounds.cpp:38
math::ConstraintInequality ConstraintInequality
Definition: task-actuation-bounds.hpp:39
VectorXi m_activeAxes
Definition: task-actuation-bounds.hpp:63
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-actuation-bounds.cpp:85
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-actuation-bounds.hpp:35
math::Vector Vector
Definition: task-actuation-bounds.hpp:37
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-actuation-bounds.cpp:63
const Vector & getUpperBounds() const
Definition: task-actuation-bounds.cpp:70
const Vector & getLowerBounds() const
Definition: task-actuation-bounds.cpp:68
Vector m_mask
Definition: task-actuation-bounds.hpp:62
ConstraintInequality m_constraint
Definition: task-actuation-bounds.hpp:64
const ConstraintBase & getConstraint() const
Definition: task-actuation-bounds.cpp:80
void setBounds(ConstRefVector lower, ConstRefVector upper)
Definition: task-actuation-bounds.cpp:72
Definition: task-actuation.hpp:28
const std::string & name() const
Definition: task-base.cpp:30
Definition: trajectory-base.hpp:36
std::size_t Index
Definition: fwd.hpp:55
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
Definition: constraint-bound.hpp:27