18 #ifndef __invdyn_task_cop_equality_hpp__
19 #define __invdyn_task_cop_equality_hpp__
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
47 void setContactList(
const std::vector<std::shared_ptr<ContactLevel> > *contacts);
62 const std::vector<std::shared_ptr<ContactLevel> > *contacts);
73 const std::vector<std::shared_ptr<ContactLevel> > *
m_contacts;
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-cop-equality.hpp:33
math::Vector Vector
Definition: task-cop-equality.hpp:39
Vector3 m_normal
Definition: task-cop-equality.hpp:75
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-cop-equality.hpp:37
const std::vector< std::shared_ptr< ContactLevel > > * m_contacts
Definition: task-cop-equality.hpp:73
const Vector3 & getContactNormal() const
Definition: task-cop-equality.cpp:119
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-cop-equality.cpp:42
ConstraintEquality m_constraint
Definition: task-cop-equality.hpp:77
void setContactList(const std::vector< std::shared_ptr< ContactLevel > > *contacts)
Definition: task-cop-equality.cpp:37
math::ConstraintEquality ConstraintEquality
Definition: task-cop-equality.hpp:41
void setReference(const Vector3 &ref)
Definition: task-cop-equality.cpp:103
TaskCopEquality(const std::string &name, RobotWrapper &robot)
Definition: task-cop-equality.cpp:28
math::Vector3 Vector3
Definition: task-cop-equality.hpp:40
Vector3 m_ref
Definition: task-cop-equality.hpp:76
const ConstraintBase & getConstraint() const
Definition: task-cop-equality.cpp:98
std::string m_contact_name
Definition: task-cop-equality.hpp:74
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-cop-equality.cpp:61
void setContactNormal(const Vector3 &n)
Definition: task-cop-equality.cpp:114
trajectories::TrajectorySample TrajectorySample
Definition: task-cop-equality.hpp:38
pinocchio::SE3 SE3
Definition: task-cop-equality.hpp:42
virtual const std::string & getAssociatedContactName()
Definition: task-cop-equality.cpp:47
const Vector3 & getReference() const
Definition: task-cop-equality.cpp:109
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
pinocchio::SE3 SE3
Definition: trajectory-base.hpp:34
Definition: constraint-bound.hpp:27