18 #ifndef __invdyn_task_actuation_equality_hpp__
19 #define __invdyn_task_actuation_equality_hpp__
31 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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
Definition: task-actuation-equality.hpp:29
void setWeightVector(math::ConstRefVector weights)
Definition: task-actuation-equality.cpp:89
pinocchio::Data Data
Definition: task-actuation-equality.hpp:37
const Vector & getWeightVector() const
Definition: task-actuation-equality.cpp:101
TaskActuationEquality(const std::string &name, RobotWrapper &robot)
Definition: task-actuation-equality.cpp:28
VectorXi m_activeAxes
Definition: task-actuation-equality.hpp:62
math::VectorXi VectorXi
Definition: task-actuation-equality.hpp:35
const Vector & getReference() const
Definition: task-actuation-equality.cpp:83
ConstraintEquality m_constraint
Definition: task-actuation-equality.hpp:65
Vector m_ref
Definition: task-actuation-equality.hpp:63
math::Vector Vector
Definition: task-actuation-equality.hpp:34
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-actuation-equality.cpp:68
void setReference(math::ConstRefVector ref)
Definition: task-actuation-equality.cpp:74
const Vector & mask() const
Definition: task-actuation-equality.cpp:39
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-actuation-equality.cpp:111
Vector m_mask
Definition: task-actuation-equality.hpp:61
Vector m_weights
Definition: task-actuation-equality.hpp:64
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-actuation-equality.hpp:33
const ConstraintBase & getConstraint() const
Definition: task-actuation-equality.cpp:106
math::ConstraintEquality ConstraintEquality
Definition: task-actuation-equality.hpp:36
Definition: task-actuation.hpp:28
const std::string & name() const
Definition: task-base.cpp:30
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
std::size_t Index
Definition: fwd.hpp:55
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
Definition: constraint-bound.hpp:27