18 #ifndef __invdyn_task_actuation_bounds_hpp__
19 #define __invdyn_task_actuation_bounds_hpp__
33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:37
Definition: constraint-inequality.hpp:29
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:41
Definition: task-actuation-bounds.hpp:31
trajectories::TrajectorySample TrajectorySample
Definition: task-actuation-bounds.hpp:36
pinocchio::Data Data
Definition: task-actuation-bounds.hpp:40
math::VectorXi VectorXi
Definition: task-actuation-bounds.hpp:38
const Vector & mask() const
Definition: task-actuation-bounds.cpp:38
math::ConstraintInequality ConstraintInequality
Definition: task-actuation-bounds.hpp:39
VectorXi m_activeAxes
Definition: task-actuation-bounds.hpp:63
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-actuation-bounds.cpp:85
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-actuation-bounds.hpp:35
math::Vector Vector
Definition: task-actuation-bounds.hpp:37
int dim() const
Return the dimension of the task. \info should be overloaded in the child class.
Definition: task-actuation-bounds.cpp:63
const Vector & getUpperBounds() const
Definition: task-actuation-bounds.cpp:70
const Vector & getLowerBounds() const
Definition: task-actuation-bounds.cpp:68
Vector m_mask
Definition: task-actuation-bounds.hpp:62
ConstraintInequality m_constraint
Definition: task-actuation-bounds.hpp:64
const ConstraintBase & getConstraint() const
Definition: task-actuation-bounds.cpp:80
void setBounds(ConstRefVector lower, ConstRefVector upper)
Definition: task-actuation-bounds.cpp:72
TaskActuationBounds(const std::string &name, RobotWrapper &robot)
Definition: task-actuation-bounds.cpp:29
Definition: task-actuation.hpp:28
const std::string & name() const
Definition: task-base.cpp:30
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
Definition: trajectory-base.hpp:36
std::size_t Index
Definition: fwd.hpp:55
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
Definition: constraint-bound.hpp:27