18 #ifndef __invdyn_task_motion_hpp__
19 #define __invdyn_task_motion_hpp__
31 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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
const std::string & name() const
Definition: task-base.cpp:30
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
Definition: task-motion.hpp:29
virtual const Vector & getMask() const
Definition: task-motion.cpp:43
Vector m_dummy
Definition: task-motion.hpp:58
virtual const Vector & velocity() const
Definition: task-motion.cpp:54
virtual const Vector & velocity_error() const
Definition: task-motion.cpp:52
virtual const Vector & velocity_ref() const
Definition: task-motion.cpp:56
Vector m_mask
Definition: task-motion.hpp:57
virtual void setMask(math::ConstRefVector mask)
Definition: task-motion.cpp:33
TaskMotion(const std::string &name, RobotWrapper &robot)
Definition: task-motion.cpp:28
trajectories::TrajectorySample TrajectorySample
Definition: task-motion.hpp:34
trajectories::TrajectorySample TrajectorySample_dummy
Definition: task-motion.hpp:59
virtual const TrajectorySample & getReference() const
Definition: task-motion.cpp:45
virtual const Vector & position() const
Definition: task-motion.cpp:53
virtual Vector getAcceleration(ConstRefVector dv) const
Definition: task-motion.cpp:49
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector Vector
Definition: task-motion.hpp:33
virtual const Vector & position_ref() const
Definition: task-motion.cpp:55
virtual bool hasMask()
Definition: task-motion.cpp:38
virtual const Vector & position_error() const
Definition: task-motion.cpp:51
virtual const Vector & getDesiredAcceleration() const
Definition: task-motion.cpp:47
Definition: trajectory-base.hpp:36
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Definition: constraint-bound.hpp:27