18 #ifndef __invdyn_task_actuation_bounds_hpp__ 19 #define __invdyn_task_actuation_bounds_hpp__ 33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
58 const Vector &
mask()
const;
70 #endif // ifndef __invdyn_task_actuation_bounds_hpp__ std::size_t Index
Definition: fwd.hpp:55
Vector m_mask
Definition: task-actuation-bounds.hpp:62
const Vector & getUpperBounds() const
Definition: task-actuation-bounds.cpp:70
math::ConstraintInequality ConstraintInequality
Definition: task-actuation-bounds.hpp:39
const std::string & name() const
Definition: task-base.cpp:30
const Vector & mask() const
Definition: task-actuation-bounds.cpp:38
const ConstraintBase & getConstraint() const
Definition: task-actuation-bounds.cpp:80
VectorXi m_activeAxes
Definition: task-actuation-bounds.hpp:63
TaskActuationBounds(const std::string &name, RobotWrapper &robot)
Definition: task-actuation-bounds.cpp:29
ConstraintInequality m_constraint
Definition: task-actuation-bounds.hpp:64
math::VectorXi VectorXi
Definition: task-actuation-bounds.hpp:38
Definition: trajectory-base.hpp:35
Definition: task-actuation.hpp:27
int dim() const
Return the dimension of the task. should be overloaded in the child class.
Definition: task-actuation-bounds.cpp:63
void setBounds(ConstRefVector lower, ConstRefVector upper)
Definition: task-actuation-bounds.cpp:72
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-actuation-bounds.cpp:85
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
trajectories::TrajectorySample TrajectorySample
Definition: task-actuation-bounds.hpp:36
const Vector & getLowerBounds() const
Definition: task-actuation-bounds.cpp:68
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
Definition: constraint-inequality.hpp:28
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-actuation-bounds.hpp:35
math::Vector Vector
Definition: task-actuation-bounds.hpp:37
Definition: constraint-bound.hpp:26
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
Definition: task-actuation-bounds.hpp:30
pinocchio::Data Data
Definition: task-actuation-bounds.hpp:40