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task-base.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_base_hpp__
19#define __invdyn_task_base_hpp__
20
21#include "tsid/math/fwd.hpp"
22#include "tsid/robots/fwd.hpp"
24
25#include <pinocchio/multibody/fwd.hpp>
26
27namespace tsid
28{
29 namespace tasks
30 {
31
37 {
38 public:
39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
40
43 typedef pinocchio::Data Data;
45
46 TaskBase(const std::string & name,
47 RobotWrapper & robot);
48
49 const std::string & name() const;
50
51 void name(const std::string & name);
52
55 virtual int dim() const = 0;
56
57 virtual const ConstraintBase & compute(const double t,
60 Data & data) = 0;
61
62 virtual const ConstraintBase & getConstraint() const = 0;
63
64 protected:
65 std::string m_name;
66
69 };
70
71 }
72}
73
74#endif // ifndef __invdyn_task_base_hpp__
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:37
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:41
Base template of a Task. Each class is defined according to a constant model of a robot.
Definition: task-base.hpp:37
std::string m_name
Definition: task-base.hpp:65
RobotWrapper & m_robot
Reference on the robot model.
Definition: task-base.hpp:68
const std::string & name() const
Definition: task-base.cpp:30
virtual const ConstraintBase & getConstraint() const =0
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase ConstraintBase
Definition: task-base.hpp:41
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
pinocchio::Data Data
Definition: task-base.hpp:43
virtual const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)=0
robots::RobotWrapper RobotWrapper
Definition: task-base.hpp:44
virtual int dim() const =0
Return the dimension of the task. \info should be overloaded in the child class.
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Definition: constraint-bound.hpp:27