18 #ifndef __invdyn_inverse_dynamics_formulation_acc_force_hpp__ 19 #define __invdyn_inverse_dynamics_formulation_acc_force_hpp__ 33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
46 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
65 unsigned int nVar()
const;
66 unsigned int nEq()
const;
67 unsigned int nIn()
const;
69 bool addMotionTask(TaskMotion & task,
71 unsigned int priorityLevel,
72 double transition_duration=0.0);
74 bool addForceTask(TaskContactForce & task,
76 unsigned int priorityLevel,
77 double transition_duration=0.0);
79 bool addActuationTask(TaskActuation & task,
81 unsigned int priorityLevel,
82 double transition_duration=0.0);
84 bool updateTaskWeight(
const std::string & task_name,
87 bool addRigidContact(
ContactBase & contact,
double force_regularization_weight,
88 double motion_weight=1.0,
unsigned int motion_priority_level=0);
90 TSID_DEPRECATED
bool addRigidContact(
ContactBase & contact);
92 bool updateRigidContactWeights(
const std::string & contact_name,
93 double force_regularization_weight,
94 double motion_weight=-1.0);
96 bool removeTask(
const std::string & taskName,
97 double transition_duration=0.0);
99 bool removeRigidContact(
const std::string & contactName,
100 double transition_duration=0.0);
102 const HQPData & computeProblemData(
double time,
106 const Vector & getActuatorForces(
const HQPOutput & sol);
107 const Vector & getAccelerations(
const HQPOutput & sol);
108 const Vector & getContactForces(
const HQPOutput & sol);
109 Vector getContactForces(
const std::string & name,
const HQPOutput & sol);
110 bool getContactForces(
const std::string & name,
111 const HQPOutput & sol,
116 template<
class TaskLevelPo
inter>
117 void addTask(TaskLevelPointer task,
119 unsigned int priorityLevel);
121 void resizeHqpData();
123 bool removeFromHqpData(
const std::string & name);
125 bool decodeSolution(
const HQPOutput & sol);
152 #endif // ifndef __invdyn_inverse_dynamics_formulation_acc_force_hpp__ Definition: solver-HQP-output.hpp:32
Base template of a Task. Each class is defined according to a constant model of a robot...
Definition: task-base.hpp:36
Definition: task-motion.hpp:28
Definition: task-actuation.hpp:27
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
Definition: constraint-bound.hpp:26