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task-com-equality.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_com_equality_hpp__
19#define __invdyn_task_com_equality_hpp__
20
21#include "tsid/math/fwd.hpp"
25
26namespace tsid
27{
28 namespace tasks
29 {
30
32 {
33 public:
34 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
35
41
42 TaskComEquality(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 setReference(const TrajectorySample & ref);
55 const TrajectorySample & getReference() const;
56
57 const Vector & getDesiredAcceleration() const;
59 virtual void setMask(math::ConstRefVector mask);
60
61 const Vector & position_error() const;
62 const Vector & velocity_error() const;
63 const Vector & position() const;
64 const Vector & velocity() const;
65 const Vector & position_ref() const;
66 const Vector & velocity_ref() const;
67
68 const Vector3 & Kp();
69 const Vector3 & Kd();
70 void Kp(ConstRefVector Kp);
71 void Kd(ConstRefVector Kp);
72
73 protected:
86 };
87
88 }
89}
90
91#endif // ifndef __invdyn_task_com_equality_hpp__
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:37
Definition: constraint-equality.hpp:29
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:41
const std::string & name() const
Definition: task-base.cpp:30
pinocchio::Data Data
Definition: task-base.hpp:43
Definition: task-com-equality.hpp:32
Vector3 m_Kd
Definition: task-com-equality.hpp:75
Vector m_drift_masked
Definition: task-com-equality.hpp:81
TrajectorySample m_ref
Definition: task-com-equality.hpp:84
ConstraintEquality m_constraint
Definition: task-com-equality.hpp:85
const Vector & velocity_error() const
Definition: task-com-equality.cpp:106
const Vector & velocity() const
Definition: task-com-equality.cpp:116
math::Vector Vector
Definition: task-com-equality.hpp:38
const ConstraintBase & getConstraint() const
Definition: task-com-equality.cpp:131
Vector m_a_des_masked
Definition: task-com-equality.hpp:79
virtual void setMask(math::ConstRefVector mask)
Definition: task-com-equality.cpp:48
Vector m_p_error_vec
Definition: task-com-equality.hpp:83
const Vector3 & Kp()
Definition: task-com-equality.cpp:65
Vector3 m_v_error
Definition: task-com-equality.hpp:76
const Vector & position_ref() const
Definition: task-com-equality.cpp:121
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-com-equality.hpp:36
const TrajectorySample & getReference() const
Definition: task-com-equality.cpp:86
Vector m_p_com
Definition: task-com-equality.hpp:82
Vector m_v_error_vec
Definition: task-com-equality.hpp:83
Vector m_a_des_vec
Definition: task-com-equality.hpp:79
Vector3 m_Kp
Definition: task-com-equality.hpp:74
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-com-equality.cpp:60
Vector3 m_drift
Definition: task-com-equality.hpp:80
math::Vector3 Vector3
Definition: task-com-equality.hpp:39
const Vector & position() const
Definition: task-com-equality.cpp:111
trajectories::TrajectorySample TrajectorySample
Definition: task-com-equality.hpp:37
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-com-equality.cpp:136
Vector m_p_error_masked_vec
Definition: task-com-equality.hpp:77
math::ConstraintEquality ConstraintEquality
Definition: task-com-equality.hpp:40
Vector m_v_error_masked_vec
Definition: task-com-equality.hpp:77
const Vector & velocity_ref() const
Definition: task-com-equality.cpp:126
const Vector & position_error() const
Definition: task-com-equality.cpp:101
Vector m_v_com
Definition: task-com-equality.hpp:82
Vector3 m_a_des
Definition: task-com-equality.hpp:78
void setReference(const TrajectorySample &ref)
Definition: task-com-equality.cpp:81
const Vector & getDesiredAcceleration() const
Definition: task-com-equality.cpp:91
const Vector3 & Kd()
Definition: task-com-equality.cpp:67
Vector getAcceleration(ConstRefVector dv) const
Definition: task-com-equality.cpp:96
Vector3 m_p_error
Definition: task-com-equality.hpp:76
Definition: task-motion.hpp:29
Definition: trajectory-base.hpp:36
std::size_t Index
Definition: fwd.hpp:55
Eigen::Matrix< Scalar, 3, 1 > Vector3
Definition: fwd.hpp:42
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Definition: constraint-bound.hpp:27