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static std::string | name (TaskJoint &self) |
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static math::ConstraintEquality | compute (TaskJoint &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data) |
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static math::ConstraintEquality | getConstraint (const TaskJoint &self) |
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static void | setReference (TaskJoint &self, const trajectories::TrajectorySample &ref) |
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static const Eigen::VectorXd & | getDesiredAcceleration (const TaskJoint &self) |
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static const Eigen::VectorXd & | getmask (const TaskJoint &self) |
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static void | setmask (TaskJoint &self, const Eigen::VectorXd mask) |
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static Eigen::VectorXd | getAcceleration (TaskJoint &self, const Eigen::VectorXd dv) |
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static const Eigen::VectorXd & | position_error (const TaskJoint &self) |
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static const Eigen::VectorXd & | velocity_error (const TaskJoint &self) |
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static const Eigen::VectorXd & | position (const TaskJoint &self) |
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static const Eigen::VectorXd & | velocity (const TaskJoint &self) |
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static const Eigen::VectorXd & | position_ref (const TaskJoint &self) |
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static const Eigen::VectorXd & | velocity_ref (const TaskJoint &self) |
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static const Eigen::VectorXd & | Kp (TaskJoint &self) |
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static const Eigen::VectorXd & | Kd (TaskJoint &self) |
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static void | setKp (TaskJoint &self, const ::Eigen::VectorXd Kp) |
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static void | setKd (TaskJoint &self, const ::Eigen::VectorXd Kv) |
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static void | expose (const std::string &class_name) |
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