#include <tsid/tasks/task-contact-force-equality.hpp>
Public Types | |
typedef trajectories::TrajectorySample | TrajectorySample |
typedef math::Vector | Vector |
typedef math::Vector6 | Vector6 |
typedef math::Vector3 | Vector3 |
typedef math::ConstraintEquality | ConstraintEquality |
typedef pinocchio::SE3 | SE3 |
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typedef math::ConstRefVector | ConstRefVector |
typedef pinocchio::Data | Data |
typedef robots::RobotWrapper | RobotWrapper |
Public Member Functions | |
TaskContactForceEquality (const std::string &name, RobotWrapper &robot, const double dt, contacts::ContactBase &contact) | |
int | dim () const |
Return the dimension of the task. \info should be overloaded in the child class. More... | |
virtual const std::string & | getAssociatedContactName () |
virtual const contacts::ContactBase & | getAssociatedContact () |
void | setAssociatedContact (contacts::ContactBase &contact) |
const ConstraintBase & | compute (const double t, ConstRefVector q, ConstRefVector v, Data &data) |
const ConstraintBase & | compute (const double t, ConstRefVector q, ConstRefVector v, Data &data, const std::vector< std::shared_ptr< ContactLevel > > *contacts) |
const ConstraintBase & | getConstraint () const |
void | setReference (TrajectorySample &ref) |
const TrajectorySample & | getReference () const |
void | setExternalForce (TrajectorySample &f_ext) |
const TrajectorySample & | getExternalForce () const |
const Vector & | Kp () const |
const Vector & | Kd () const |
const Vector & | Ki () const |
const double & | getLeakRate () const |
void | Kp (ConstRefVector Kp) |
void | Kd (ConstRefVector Kp) |
void | Ki (ConstRefVector Ki) |
void | setLeakRate (double leak) |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW | TaskContactForce (const std::string &name, RobotWrapper &robot) |
virtual const ConstraintBase & | compute (const double t, ConstRefVector q, ConstRefVector v, Data &data, const std::vector< std::shared_ptr< ContactLevel > > *contacts)=0 |
virtual const std::string & | getAssociatedContactName ()=0 |
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TaskBase (const std::string &name, RobotWrapper &robot) | |
const std::string & | name () const |
void | name (const std::string &name) |
virtual int | dim () const =0 |
Return the dimension of the task. \info should be overloaded in the child class. More... | |
virtual const ConstraintBase & | compute (const double t, ConstRefVector q, ConstRefVector v, Data &data)=0 |
virtual const ConstraintBase & | getConstraint () const =0 |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index | Index |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase | ConstraintBase |
Protected Attributes | |
contacts::ContactBase * | m_contact |
std::string | m_contact_name |
ConstraintEquality | m_constraint |
TrajectorySample | m_ref |
TrajectorySample | m_fext |
Vector | m_forceIntegralError |
Vector | m_Kp |
Vector | m_Kd |
Vector | m_Ki |
double | m_dt |
double | m_leak_rate |
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std::string | m_name |
RobotWrapper & | m_robot |
Reference on the robot model. More... | |
typedef pinocchio::SE3 tsid::tasks::TaskContactForceEquality::SE3 |
tsid::tasks::TaskContactForceEquality::TaskContactForceEquality | ( | const std::string & | name, |
RobotWrapper & | robot, | ||
const double | dt, | ||
contacts::ContactBase & | contact | ||
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Implements tsid::tasks::TaskBase.
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Contact force tasks have an additional compute method that takes as extra input argument the list of active contacts. This can be needed for force tasks that involve all contacts, such as the CoP task.
Implements tsid::tasks::TaskContactForce.
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Return the dimension of the task. \info should be overloaded in the child class.
Implements tsid::tasks::TaskBase.
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Return the name of the contact associated to this task if this task is associated to a specific contact. If this task is associated to multiple contact forces (all of them), returns an empty string.
Implements tsid::tasks::TaskContactForce.
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Implements tsid::tasks::TaskBase.
const TaskContactForceEquality::TrajectorySample & tsid::tasks::TaskContactForceEquality::getExternalForce | ( | ) | const |
const double & tsid::tasks::TaskContactForceEquality::getLeakRate | ( | ) | const |
const TaskContactForceEquality::TrajectorySample & tsid::tasks::TaskContactForceEquality::getReference | ( | ) | const |
const Vector & tsid::tasks::TaskContactForceEquality::Kd | ( | ) | const |
void tsid::tasks::TaskContactForceEquality::Kd | ( | ConstRefVector | Kp | ) |
const Vector & tsid::tasks::TaskContactForceEquality::Ki | ( | ) | const |
void tsid::tasks::TaskContactForceEquality::Ki | ( | ConstRefVector | Ki | ) |
const Vector & tsid::tasks::TaskContactForceEquality::Kp | ( | ) | const |
void tsid::tasks::TaskContactForceEquality::Kp | ( | ConstRefVector | Kp | ) |
void tsid::tasks::TaskContactForceEquality::setAssociatedContact | ( | contacts::ContactBase & | contact | ) |
void tsid::tasks::TaskContactForceEquality::setExternalForce | ( | TrajectorySample & | f_ext | ) |
void tsid::tasks::TaskContactForceEquality::setLeakRate | ( | double | leak | ) |
void tsid::tasks::TaskContactForceEquality::setReference | ( | TrajectorySample & | ref | ) |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index tsid::tasks::TaskContactForceEquality::Index |
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