task-joint-posVelAcc-bounds.hpp
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2 // Copyright (c) 2017 CNRS
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17 
18 #ifndef __invdyn_task_joint_posVelAcc_bounds_hpp__
19 #define __invdyn_task_joint_posVelAcc_bounds_hpp__
20 
24 #include <tsid/deprecated.hh>
25 
33 namespace tsid
34 {
35  namespace tasks
36  {
37 
39  {
40  public:
41  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
42 
48 
49  TaskJointPosVelAccBounds(const std::string & name,
50  RobotWrapper & robot,
51  double dt,
52  bool verbose=true);
53 
54  int dim() const;
55 
56  const ConstraintBase & compute(const double t,
59  Data & data);
60 
61  const ConstraintBase & getConstraint() const;
62 
63  void setTimeStep(double dt);
67  const Vector & getAccelerationBounds() const;
68  const Vector & getVelocityBounds() const;
69  const Vector & getPositionLowerBounds() const;
70  const Vector & getPositionUpperBounds() const;
71 
72  void setVerbose(bool verbose);
73 
74  void setImposeBounds(bool impose_position_bounds,
75  bool impose_velocity_bounds,
76  bool impose_viability_bounds,
77  bool impose_acceleration_bounds);
78 
83  void isStateViable(ConstRefVector q,ConstRefVector dq ,bool verbose=true);
84 
88  void computeAccLimitsFromPosLimits(ConstRefVector q,ConstRefVector dq, bool verbose=true);
89 
100  void computeAccLimitsFromViability(ConstRefVector q,ConstRefVector dq, bool verbose=true);
101 
108  void computeAccLimits(ConstRefVector q,ConstRefVector dq,bool verbose=true);
109 
110  TSID_DEPRECATED const Vector & mask() const; // deprecated
111  TSID_DEPRECATED void mask(const Vector & mask); // deprecated
112  virtual void setMask(math::ConstRefVector mask);
113 
114 
115  protected:
117  double m_dt;
118  bool m_verbose;
119  int m_nv, m_na;
120 
123 
124  Vector m_qa; //actuated part of q
125  Vector m_dqa; //actuated part of dq
126 
127  double m_eps; // tolerance used to check violations
128 
129  Vector m_qMin;//joints position limits
130  Vector m_qMax;//joints position limits
131  Vector m_dqMax;//joints max velocity limits
132  Vector m_ddqMax;//joints max acceleration limits
133 
134  Vector m_dqMinViab;//velocity lower limits from viability
135  Vector m_dqMaxViab;//velocity upper limits from viability
136 
137  Vector m_ddqLBPos;//acceleration lower bound from position bounds
138  Vector m_ddqUBPos;//acceleration upper bound from position bounds
139  Vector m_ddqLBVia;//acceleration lower bound from viability bounds
140  Vector m_ddqUBVia;//acceleration upper bound from viability bounds
141  Vector m_ddqLBVel;//acceleration lower bound from velocity bounds
142  Vector m_ddqUBVel;//acceleration upper bound from velocity bounds
143  Vector m_ddqLBAcc;//acceleration lower bound from acceleration bounds
144  Vector m_ddqUBAcc;//acceleration upper bound from acceleration bounds
145 
146  Vector m_ddqLB;//final acceleration bounds
147  Vector m_ddqUB;//final acceleration bounds
148 
153 
154  Vector m_viabViol;// 0 if the state is viable, error otherwise
155 
156  //Used in computeAccLimitsFromPosLimits
157  double m_two_dt_sq;
163 
164  //Used in computeAccLimitsFromViability
165  double m_dt_square;
172  double m_two_a;
181 
182  //Used in computeAccLimits
185  };
186 
187  }
188 }
189 
190 #endif // ifndef __invdyn_task_joint_bounds_hpp__
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:37
Definition: constraint-bound.hpp:29
Definition: constraint-inequality.hpp:29
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:41
const std::string & name() const
Definition: task-base.cpp:30
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
pinocchio::Data Data
Definition: task-base.hpp:43
Definition: task-joint-posVelAcc-bounds.hpp:39
Vector m_dqMinViab
Definition: task-joint-posVelAcc-bounds.hpp:134
Vector m_ddqLBVel
Definition: task-joint-posVelAcc-bounds.hpp:141
TaskJointPosVelAccBounds(const std::string &name, RobotWrapper &robot, double dt, bool verbose=true)
Definition: task-joint-posVelAcc-bounds.cpp:37
void setVerbose(bool verbose)
Definition: task-joint-posVelAcc-bounds.cpp:167
Vector m_q_plus_dt_dq
Definition: task-joint-posVelAcc-bounds.hpp:171
Vector m_two_ddqMax
Definition: task-joint-posVelAcc-bounds.hpp:168
Vector m_lb
Definition: task-joint-posVelAcc-bounds.hpp:184
Vector m_ub
Definition: task-joint-posVelAcc-bounds.hpp:183
TSID_DEPRECATED const Vector & mask() const
Definition: task-joint-posVelAcc-bounds.cpp:115
bool m_impose_position_bounds
Definition: task-joint-posVelAcc-bounds.hpp:149
Vector m_ddqLB
Definition: task-joint-posVelAcc-bounds.hpp:146
Vector m_dqMax
Definition: task-joint-posVelAcc-bounds.hpp:131
Vector m_dqa
Definition: task-joint-posVelAcc-bounds.hpp:125
void computeAccLimits(ConstRefVector q, ConstRefVector dq, bool verbose=true)
Definition: task-joint-posVelAcc-bounds.cpp:399
void setPositionBounds(ConstRefVector lower, ConstRefVector upper)
Definition: task-joint-posVelAcc-bounds.cpp:171
bool m_impose_acceleration_bounds
Definition: task-joint-posVelAcc-bounds.hpp:152
double m_two_a
Definition: task-joint-posVelAcc-bounds.hpp:172
Vector m_ddqMax_q2
Definition: task-joint-posVelAcc-bounds.hpp:160
Vector m_c_2
Definition: task-joint-posVelAcc-bounds.hpp:179
Vector m_minus_dq_over_dt
Definition: task-joint-posVelAcc-bounds.hpp:162
double m_eps
Definition: task-joint-posVelAcc-bounds.hpp:127
int m_nv
Definition: task-joint-posVelAcc-bounds.hpp:119
void setTimeStep(double dt)
Definition: task-joint-posVelAcc-bounds.cpp:161
Vector m_ddqLBPos
Definition: task-joint-posVelAcc-bounds.hpp:137
bool m_verbose
Definition: task-joint-posVelAcc-bounds.hpp:118
Vector m_delta_1
Definition: task-joint-posVelAcc-bounds.hpp:178
math::ConstraintInequality ConstraintInequality
Definition: task-joint-posVelAcc-bounds.hpp:45
Vector m_ddqMax
Definition: task-joint-posVelAcc-bounds.hpp:132
int m_na
Definition: task-joint-posVelAcc-bounds.hpp:119
const ConstraintBase & getConstraint() const
Definition: task-joint-posVelAcc-bounds.cpp:195
Vector m_ddqLBVia
Definition: task-joint-posVelAcc-bounds.hpp:139
pinocchio::Data Data
Definition: task-joint-posVelAcc-bounds.hpp:47
double m_dt
Definition: task-joint-posVelAcc-bounds.hpp:117
math::ConstraintBound ConstraintBound
Definition: task-joint-posVelAcc-bounds.hpp:44
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-joint-posVelAcc-bounds.cpp:146
VectorXi m_activeAxes
Definition: task-joint-posVelAcc-bounds.hpp:122
Vector m_dqMaxViab
Definition: task-joint-posVelAcc-bounds.hpp:135
Vector m_ddqMax_q3
Definition: task-joint-posVelAcc-bounds.hpp:158
Vector m_ddqMin_q2
Definition: task-joint-posVelAcc-bounds.hpp:161
Vector m_ddqLBAcc
Definition: task-joint-posVelAcc-bounds.hpp:143
Vector m_b_2
Definition: task-joint-posVelAcc-bounds.hpp:174
Vector m_dt_ddqMax_dt
Definition: task-joint-posVelAcc-bounds.hpp:169
Vector m_ddqUB
Definition: task-joint-posVelAcc-bounds.hpp:147
Vector m_ddqUBPos
Definition: task-joint-posVelAcc-bounds.hpp:138
void setVelocityBounds(ConstRefVector upper)
Definition: task-joint-posVelAcc-bounds.cpp:181
bool m_impose_viability_bounds
Definition: task-joint-posVelAcc-bounds.hpp:151
Vector m_dq_square
Definition: task-joint-posVelAcc-bounds.hpp:170
void isStateViable(ConstRefVector q, ConstRefVector dq, bool verbose=true)
Definition: task-joint-posVelAcc-bounds.cpp:228
virtual void setMask(math::ConstRefVector mask)
Definition: task-joint-posVelAcc-bounds.cpp:126
Vector m_delta_2
Definition: task-joint-posVelAcc-bounds.hpp:180
void setAccelerationBounds(ConstRefVector upper)
Definition: task-joint-posVelAcc-bounds.cpp:188
Vector m_qMax
Definition: task-joint-posVelAcc-bounds.hpp:130
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector Vector
Definition: task-joint-posVelAcc-bounds.hpp:43
void computeAccLimitsFromPosLimits(ConstRefVector q, ConstRefVector dq, bool verbose=true)
Definition: task-joint-posVelAcc-bounds.cpp:287
Vector m_ddq_2
Definition: task-joint-posVelAcc-bounds.hpp:176
double m_two_dt_sq
Definition: task-joint-posVelAcc-bounds.hpp:157
Vector m_ddqUBAcc
Definition: task-joint-posVelAcc-bounds.hpp:144
Vector m_qa
Definition: task-joint-posVelAcc-bounds.hpp:124
Vector m_ddqUBVia
Definition: task-joint-posVelAcc-bounds.hpp:140
double m_dt_square
Definition: task-joint-posVelAcc-bounds.hpp:165
Vector m_dt_dq
Definition: task-joint-posVelAcc-bounds.hpp:166
void computeAccLimitsFromViability(ConstRefVector q, ConstRefVector dq, bool verbose=true)
Definition: task-joint-posVelAcc-bounds.cpp:346
const Vector & getVelocityBounds() const
Definition: task-joint-posVelAcc-bounds.cpp:152
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-joint-posVelAcc-bounds.cpp:200
bool m_impose_velocity_bounds
Definition: task-joint-posVelAcc-bounds.hpp:150
Vector m_mask
Definition: task-joint-posVelAcc-bounds.hpp:121
Vector m_viabViol
Definition: task-joint-posVelAcc-bounds.hpp:154
math::VectorXi VectorXi
Definition: task-joint-posVelAcc-bounds.hpp:46
ConstraintInequality m_constraint
Definition: task-joint-posVelAcc-bounds.hpp:116
Vector m_ddqMin_q3
Definition: task-joint-posVelAcc-bounds.hpp:159
Vector m_dt_two_dq
Definition: task-joint-posVelAcc-bounds.hpp:167
Vector m_b_1
Definition: task-joint-posVelAcc-bounds.hpp:173
void setImposeBounds(bool impose_position_bounds, bool impose_velocity_bounds, bool impose_viability_bounds, bool impose_acceleration_bounds)
Definition: task-joint-posVelAcc-bounds.cpp:216
Vector m_ddqUBVel
Definition: task-joint-posVelAcc-bounds.hpp:142
const Vector & getPositionUpperBounds() const
Definition: task-joint-posVelAcc-bounds.cpp:158
const Vector & getAccelerationBounds() const
Definition: task-joint-posVelAcc-bounds.cpp:149
Vector m_c_1
Definition: task-joint-posVelAcc-bounds.hpp:177
const Vector & getPositionLowerBounds() const
Definition: task-joint-posVelAcc-bounds.cpp:155
Vector m_qMin
Definition: task-joint-posVelAcc-bounds.hpp:129
Vector m_ddq_1
Definition: task-joint-posVelAcc-bounds.hpp:175
Definition: task-motion.hpp:29
#define TSID_DEPRECATED
Definition: deprecated.hh:37
pinocchio::Data Data
Definition: inverse-dynamics-formulation-acc-force.cpp:29
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