18 #ifndef __invdyn_task_joint_posture_hpp__
19 #define __invdyn_task_joint_posture_hpp__
34 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
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-posture.hpp:32
const Vector & position() const
Definition: task-joint-posture.cpp:128
Vector m_Kp
Definition: task-joint-posture.hpp:78
trajectories::TrajectorySample TrajectorySample
Definition: task-joint-posture.hpp:37
const Vector & velocity() const
Definition: task-joint-posture.cpp:133
TrajectorySample m_ref
Definition: task-joint-posture.hpp:84
void setReference(const TrajectorySample &ref)
Definition: task-joint-posture.cpp:95
const Vector & getDesiredAcceleration() const
Definition: task-joint-posture.cpp:108
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-joint-posture.cpp:74
Vector m_p_error
Definition: task-joint-posture.hpp:80
const Vector & velocity_ref() const
Definition: task-joint-posture.cpp:143
const Vector & position_error() const
Definition: task-joint-posture.cpp:118
Vector m_ref_q_augmented
Definition: task-joint-posture.hpp:85
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-joint-posture.hpp:36
Vector m_p
Definition: task-joint-posture.hpp:81
const Vector & Kd()
Definition: task-joint-posture.cpp:81
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-joint-posture.cpp:153
virtual void setMask(math::ConstRefVector mask)
Definition: task-joint-posture.cpp:54
Vector m_v
Definition: task-joint-posture.hpp:81
Vector m_v_error
Definition: task-joint-posture.hpp:80
TaskJointPosture(const std::string &name, RobotWrapper &robot)
Definition: task-joint-posture.cpp:30
VectorXi m_activeAxes
Definition: task-joint-posture.hpp:83
const Vector & Kp()
Definition: task-joint-posture.cpp:79
math::Vector Vector
Definition: task-joint-posture.hpp:38
ConstraintEquality m_constraint
Definition: task-joint-posture.hpp:86
pinocchio::Data Data
Definition: task-joint-posture.hpp:41
const ConstraintBase & getConstraint() const
Definition: task-joint-posture.cpp:148
const Vector & position_ref() const
Definition: task-joint-posture.cpp:138
TSID_DEPRECATED const Vector & mask() const
Definition: task-joint-posture.cpp:43
Vector m_a_des
Definition: task-joint-posture.hpp:82
Vector getAcceleration(ConstRefVector dv) const
Definition: task-joint-posture.cpp:113
const TrajectorySample & getReference() const
Definition: task-joint-posture.cpp:103
const Vector & velocity_error() const
Definition: task-joint-posture.cpp:123
math::ConstraintEquality ConstraintEquality
Definition: task-joint-posture.hpp:40
math::VectorXi VectorXi
Definition: task-joint-posture.hpp:39
Vector m_Kd
Definition: task-joint-posture.hpp:79
Definition: task-motion.hpp:29
Definition: trajectory-base.hpp:36
#define TSID_DEPRECATED
Definition: deprecated.hh:37
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