18 #ifndef __invdyn_task_am_equality_hpp__
19 #define __invdyn_task_am_equality_hpp__
26 #include <pinocchio/multibody/model.hpp>
27 #include <pinocchio/multibody/data.hpp>
37 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-angular-momentum-equality.hpp:35
Vector3 m_dL_des
Definition: task-angular-momentum-equality.hpp:79
Vector3 m_dL
Definition: task-angular-momentum-equality.hpp:82
math::Vector Vector
Definition: task-angular-momentum-equality.hpp:41
Vector3 m_L
Definition: task-angular-momentum-equality.hpp:82
TaskAMEquality(const std::string &name, RobotWrapper &robot)
Definition: task-angular-momentum-equality.cpp:31
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-angular-momentum-equality.cpp:112
ConstraintEquality m_constraint
Definition: task-angular-momentum-equality.hpp:84
Vector3 m_drift
Definition: task-angular-momentum-equality.hpp:81
const Vector3 & momentum_error() const
Definition: task-angular-momentum-equality.cpp:88
void setReference(const TrajectorySample &ref)
Definition: task-angular-momentum-equality.cpp:68
Vector3 m_Kp
Definition: task-angular-momentum-equality.hpp:76
pinocchio::Data::Matrix6x Matrix6x
Definition: task-angular-momentum-equality.hpp:44
Vector3 m_Kd
Definition: task-angular-momentum-equality.hpp:77
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-angular-momentum-equality.cpp:46
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-angular-momentum-equality.hpp:39
Vector3 m_dL_error
Definition: task-angular-momentum-equality.hpp:78
Vector3 getdMomentum(ConstRefVector dv) const
Definition: task-angular-momentum-equality.cpp:83
const TrajectorySample & getReference() const
Definition: task-angular-momentum-equality.cpp:73
math::Vector3 Vector3
Definition: task-angular-momentum-equality.hpp:42
const Vector & dmomentum_ref() const
Definition: task-angular-momentum-equality.cpp:102
const ConstraintBase & getConstraint() const
Definition: task-angular-momentum-equality.cpp:107
trajectories::TrajectorySample TrajectorySample
Definition: task-angular-momentum-equality.hpp:40
Vector3 m_L_error
Definition: task-angular-momentum-equality.hpp:78
const Vector3 & getDesiredMomentumDerivative() const
Definition: task-angular-momentum-equality.cpp:78
const Vector & momentum_ref() const
Definition: task-angular-momentum-equality.cpp:97
const Vector3 & Kp()
Definition: task-angular-momentum-equality.cpp:52
const Vector3 & Kd()
Definition: task-angular-momentum-equality.cpp:54
TrajectorySample m_ref
Definition: task-angular-momentum-equality.hpp:83
math::ConstraintEquality ConstraintEquality
Definition: task-angular-momentum-equality.hpp:43
const Vector3 & momentum() const
Definition: task-angular-momentum-equality.cpp:93
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-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
Definition: constraint-bound.hpp:27