18 #ifndef __invdyn_inverse_dynamics_formulation_base_hpp__
19 #define __invdyn_inverse_dynamics_formulation_base_hpp__
37 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
49 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
65 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
87 virtual unsigned int nVar()
const = 0;
88 virtual unsigned int nEq()
const = 0;
89 virtual unsigned int nIn()
const = 0;
93 unsigned int priorityLevel,
94 double transition_duration=0.0) = 0;
98 unsigned int priorityLevel,
99 double transition_duration=0.0) = 0;
103 unsigned int priorityLevel,
104 double transition_duration=0.0) = 0;
119 double motion_weight=1.0,
unsigned int motion_priority_level=0) = 0;
131 double force_regularization_weight,
132 double motion_weight=-1.0) = 0;
135 double transition_duration=0.0) = 0;
138 double transition_duration=0.0) = 0;
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:41
Definition: solver-HQP-output.hpp:33
Definition: task-actuation.hpp:28
Base template of a Task. Each class is defined according to a constant model of a robot.
Definition: task-base.hpp:37
Definition: task-motion.hpp:29
#define TSID_DEPRECATED
Definition: deprecated.hh:37
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Eigen::Ref< Vector > RefVector
Definition: fwd.hpp:49
pinocchio::container::aligned_vector< ConstraintLevel > HQPData
Definition: fwd.hpp:91
Definition: constraint-bound.hpp:27
Definition: inverse-dynamics-formulation-base.hpp:48
TaskLevelForce(tasks::TaskContactForce &task, unsigned int priority)
Definition: inverse-dynamics-formulation-base.cpp:30
unsigned int priority
Definition: inverse-dynamics-formulation-base.hpp:53
std::shared_ptr< math::ConstraintBase > constraint
Definition: inverse-dynamics-formulation-base.hpp:52
EIGEN_MAKE_ALIGNED_OPERATOR_NEW tasks::TaskContactForce & task
Definition: inverse-dynamics-formulation-base.hpp:51
Definition: inverse-dynamics-formulation-base.hpp:36
unsigned int priority
Definition: inverse-dynamics-formulation-base.hpp:41
EIGEN_MAKE_ALIGNED_OPERATOR_NEW tasks::TaskBase & task
Definition: inverse-dynamics-formulation-base.hpp:39
std::shared_ptr< math::ConstraintBase > constraint
Definition: inverse-dynamics-formulation-base.hpp:40
TaskLevel(tasks::TaskBase &task, unsigned int priority)
Definition: inverse-dynamics-formulation-base.cpp:24