18 #ifndef __invdyn_task_capture_point_inequality_hpp__ 19 #define __invdyn_task_capture_point_inequality_hpp__ 25 #include <pinocchio/multibody/model.hpp> 26 #include <pinocchio/multibody/data.hpp> 36 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
48 const double timeStep);
98 #endif //ifndef __invdyn_task_capture_point_inequality_hpp__ std::size_t Index
Definition: fwd.hpp:55
ConstraintInequality m_constraint
Definition: task-capture-point-inequality.hpp:78
TaskCapturePointInequality(const std::string &name, RobotWrapper &robot, const double timeStep)
Definition: task-capture-point-inequality.cpp:34
Vector b_upper
Definition: task-capture-point-inequality.hpp:92
Vector b_lower
Definition: task-capture-point-inequality.hpp:91
math::ConstraintInequality ConstraintInequality
Definition: task-capture-point-inequality.hpp:42
Vector m_rp_min
Definition: task-capture-point-inequality.hpp:75
const std::string & name() const
Definition: task-base.cpp:30
void setSupportLimitsXAxis(const double x_min, const double x_max)
Definition: task-capture-point-inequality.cpp:83
pinocchio::SE3 SE3
Definition: trajectory-base.hpp:34
Eigen::Index m_nv
Definition: task-capture-point-inequality.hpp:84
math::Vector3 Vector3
Definition: task-capture-point-inequality.hpp:41
Vector m_support_limits_x
Definition: task-capture-point-inequality.hpp:81
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-capture-point-inequality.hpp:38
Vector m_v_com
Definition: task-capture-point-inequality.hpp:74
Vector m_rp_max
Definition: task-capture-point-inequality.hpp:76
double m_ka
Definition: task-capture-point-inequality.hpp:88
Vector m_safety_margin
Definition: task-capture-point-inequality.hpp:80
const ConstraintBase & getConstraint() const
Definition: task-capture-point-inequality.cpp:78
Definition: task-motion.hpp:28
void setSafetyMargin(const double x_margin, const double y_margin)
Definition: task-capture-point-inequality.cpp:97
Eigen::Matrix< Scalar, 3, 1 > Vector3
Definition: fwd.hpp:42
double m_delta_t
Definition: task-capture-point-inequality.hpp:85
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
Vector m_support_limits_y
Definition: task-capture-point-inequality.hpp:82
pinocchio::Data Data
Definition: task-capture-point-inequality.hpp:43
Vector3 m_drift
Definition: task-capture-point-inequality.hpp:73
pinocchio::SE3 SE3
Definition: task-capture-point-inequality.hpp:44
void setSupportLimitsYAxis(const double y_min, const double y_max)
Definition: task-capture-point-inequality.cpp:90
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
math::Vector Vector
Definition: task-capture-point-inequality.hpp:39
Vector getAcceleration(ConstRefVector dv) const
Definition: task-capture-point-inequality.cpp:69
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
Definition: constraint-inequality.hpp:28
Definition: task-capture-point-inequality.hpp:33
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
int dim() const
Return the dimension of the task. should be overloaded in the child class.
Definition: task-capture-point-inequality.cpp:64
double m_g
Definition: task-capture-point-inequality.hpp:86
Definition: constraint-bound.hpp:26
math::Matrix Matrix
Definition: task-capture-point-inequality.hpp:40
const Vector & position() const
Definition: task-capture-point-inequality.cpp:74
Vector m_p_com
Definition: task-capture-point-inequality.hpp:74
double m_w
Definition: task-capture-point-inequality.hpp:87
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
Vector m_drift_vec
Definition: task-capture-point-inequality.hpp:72
int m_dim
Definition: task-capture-point-inequality.hpp:89
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-capture-point-inequality.cpp:103