#include <tsid/tasks/task-joint-bounds.hpp>
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| TaskJointBounds (const std::string &name, RobotWrapper &robot, double dt) |
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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 | setTimeStep (double dt) |
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void | setVelocityBounds (ConstRefVector lower, ConstRefVector upper) |
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void | setAccelerationBounds (ConstRefVector lower, ConstRefVector upper) |
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const Vector & | getAccelerationLowerBounds () const |
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const Vector & | getAccelerationUpperBounds () const |
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const Vector & | getVelocityLowerBounds () const |
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const Vector & | getVelocityUpperBounds () const |
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virtual void | setMask (math::ConstRefVector mask) |
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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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◆ ConstraintBound
◆ Data
◆ TaskJointBounds()
tsid::tasks::TaskJointBounds::TaskJointBounds |
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const std::string & |
name, |
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RobotWrapper & |
robot, |
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double |
dt |
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◆ compute()
◆ dim()
int tsid::tasks::TaskJointBounds::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.
◆ getAccelerationLowerBounds()
const Vector & tsid::tasks::TaskJointBounds::getAccelerationLowerBounds |
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◆ getAccelerationUpperBounds()
const Vector & tsid::tasks::TaskJointBounds::getAccelerationUpperBounds |
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◆ getConstraint()
const ConstraintBase & tsid::tasks::TaskJointBounds::getConstraint |
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const |
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◆ getVelocityLowerBounds()
const Vector & tsid::tasks::TaskJointBounds::getVelocityLowerBounds |
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◆ getVelocityUpperBounds()
const Vector & tsid::tasks::TaskJointBounds::getVelocityUpperBounds |
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◆ setAccelerationBounds()
◆ setMask()
◆ setTimeStep()
void tsid::tasks::TaskJointBounds::setTimeStep |
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double |
dt | ) |
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◆ setVelocityBounds()
◆ m_a_lb
Vector tsid::tasks::TaskJointBounds::m_a_lb |
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◆ m_a_ub
Vector tsid::tasks::TaskJointBounds::m_a_ub |
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◆ m_constraint
◆ m_ddq_max_due_to_vel
Vector tsid::tasks::TaskJointBounds::m_ddq_max_due_to_vel |
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◆ m_ddq_min_due_to_vel
Vector tsid::tasks::TaskJointBounds::m_ddq_min_due_to_vel |
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◆ m_dt
double tsid::tasks::TaskJointBounds::m_dt |
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◆ m_na
int tsid::tasks::TaskJointBounds::m_na |
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◆ m_nv
int tsid::tasks::TaskJointBounds::m_nv |
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◆ m_v_lb
Vector tsid::tasks::TaskJointBounds::m_v_lb |
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◆ m_v_ub
Vector tsid::tasks::TaskJointBounds::m_v_ub |
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◆ Vector
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector tsid::tasks::TaskJointBounds::Vector |
The documentation for this class was generated from the following files: