18 #ifndef __invdyn_task_am_equality_hpp__ 19 #define __invdyn_task_am_equality_hpp__ 26 #include <pinocchio/multibody/model.hpp> 27 #include <pinocchio/multibody/data.hpp> 37 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
90 #endif // ifndef __invdyn_task_am_equality_hpp__ std::size_t Index
Definition: fwd.hpp:55
Definition: constraint-equality.hpp:28
Vector3 m_Kd
Definition: task-angular-momentum-equality.hpp:77
Vector3 m_drift
Definition: task-angular-momentum-equality.hpp:81
const ConstraintBase & getConstraint() const
Definition: task-angular-momentum-equality.cpp:107
const Vector3 & Kp()
Definition: task-angular-momentum-equality.cpp:52
const Vector & dmomentum_ref() const
Definition: task-angular-momentum-equality.cpp:102
const TrajectorySample & getReference() const
Definition: task-angular-momentum-equality.cpp:73
pinocchio::Data Data
Definition: task-base.hpp:43
Vector3 m_L
Definition: task-angular-momentum-equality.hpp:82
Vector3 m_dL_error
Definition: task-angular-momentum-equality.hpp:78
trajectories::TrajectorySample TrajectorySample
Definition: task-angular-momentum-equality.hpp:40
Definition: task-angular-momentum-equality.hpp:34
const std::string & name() const
Definition: task-base.cpp:30
Vector3 m_L_error
Definition: task-angular-momentum-equality.hpp:78
TaskAMEquality(const std::string &name, RobotWrapper &robot)
Definition: task-angular-momentum-equality.cpp:31
Vector3 m_dL
Definition: task-angular-momentum-equality.hpp:82
int dim() const
Return the dimension of the task. should be overloaded in the child class.
Definition: task-angular-momentum-equality.cpp:46
const Vector3 & momentum() const
Definition: task-angular-momentum-equality.cpp:93
Vector3 m_Kp
Definition: task-angular-momentum-equality.hpp:76
Vector3 m_dL_des
Definition: task-angular-momentum-equality.hpp:79
Definition: task-motion.hpp:28
Eigen::Matrix< Scalar, 3, 1 > Vector3
Definition: fwd.hpp:42
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index Index
Definition: task-angular-momentum-equality.hpp:39
Definition: trajectory-base.hpp:35
const Vector3 & Kd()
Definition: task-angular-momentum-equality.cpp:54
ConstraintEquality m_constraint
Definition: task-angular-momentum-equality.hpp:84
math::ConstRefVector ConstRefVector
Definition: task-base.hpp:42
const Vector3 & momentum_error() const
Definition: task-angular-momentum-equality.cpp:88
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Vector3 getdMomentum(ConstRefVector dv) const
Definition: task-angular-momentum-equality.cpp:83
TrajectorySample m_ref
Definition: task-angular-momentum-equality.hpp:83
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
void setReference(const TrajectorySample &ref)
Definition: task-angular-momentum-equality.cpp:68
math::ConstraintEquality ConstraintEquality
Definition: task-angular-momentum-equality.hpp:43
pinocchio::Data::Matrix6x Matrix6x
Definition: task-angular-momentum-equality.hpp:44
math::Vector3 Vector3
Definition: task-angular-momentum-equality.hpp:42
const Vector & momentum_ref() const
Definition: task-angular-momentum-equality.cpp:97
Definition: constraint-bound.hpp:26
const Vector3 & getDesiredMomentumDerivative() const
Definition: task-angular-momentum-equality.cpp:78
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
const ConstraintBase & compute(const double t, ConstRefVector q, ConstRefVector v, Data &data)
Definition: task-angular-momentum-equality.cpp:112
math::Vector Vector
Definition: task-angular-momentum-equality.hpp:41