18 #ifndef __invdyn_task_joint_bounds_hpp__
19 #define __invdyn_task_joint_bounds_hpp__
32 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:37
Definition: constraint-bound.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-bounds.hpp:30
math::ConstraintBound ConstraintBound
Definition: task-joint-bounds.hpp:35
Vector m_v_ub
Definition: task-joint-bounds.hpp:62
Vector m_a_ub
Definition: task-joint-bounds.hpp:63
void setTimeStep(double dt)
Definition: task-joint-bounds.cpp:69
ConstraintBound m_constraint
Definition: task-joint-bounds.hpp:65
double m_dt
Definition: task-joint-bounds.hpp:66
const Vector & getVelocityUpperBounds() const
Definition: task-joint-bounds.cpp:66
Vector m_a_lb
Definition: task-joint-bounds.hpp:63
const Vector & getVelocityLowerBounds() const
Definition: task-joint-bounds.cpp:63
void setVelocityBounds(ConstRefVector lower, ConstRefVector upper)
Definition: task-joint-bounds.cpp:75
TaskJointBounds(const std::string &name, RobotWrapper &robot, double dt)
Definition: task-joint-bounds.cpp:29
Vector m_ddq_min_due_to_vel
Definition: task-joint-bounds.hpp:64
int m_na
Definition: task-joint-bounds.hpp:67
const ConstraintBase & getConstraint() const
Definition: task-joint-bounds.cpp:91
Vector m_ddq_max_due_to_vel
Definition: task-joint-bounds.hpp:64
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector Vector
Definition: task-joint-bounds.hpp:34
int m_nv
Definition: task-joint-bounds.hpp:67
virtual void setMask(math::ConstRefVector mask)
Definition: task-joint-bounds.cpp:96
const Vector & getAccelerationUpperBounds() const
Definition: task-joint-bounds.cpp:60
void setAccelerationBounds(ConstRefVector lower, ConstRefVector upper)
Definition: task-joint-bounds.cpp:83
pinocchio::Data Data
Definition: task-joint-bounds.hpp:36
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-joint-bounds.cpp:54
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-joint-bounds.cpp:101
const Vector & getAccelerationLowerBounds() const
Definition: task-joint-bounds.cpp:57
Vector m_v_lb
Definition: task-joint-bounds.hpp:62
Definition: task-motion.hpp:29
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