class
JointDynamicsTaskJointsDynamicsTask is a concrete implementation of the Task.
Please use this element if you want to consider the joints dynamics only. The task represents the following equation
where the suffix indicates the last n rows of the vector/matrix. is the robot jacobian associated to the contact wrench . are the joints torque.
Base classes
- struct TSIDLinearTask
- TSIDLinearTask specializes a LinearTask in the case of Task based Inverse Dynamics.
Public functions
-
auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> paramHandler) -> bool override - Initialize the planner.
- auto setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) -> bool override
- Set the kinDynComputations object.
-
auto setVariablesHandler(const System::
VariablesHandler& variablesHandler) -> bool override - Set the set of variables required by the task.
- auto setMassMatrixRegularization(const Eigen::Ref<const Eigen::MatrixXd>& matrix) -> bool
- Set the mass matrix regularization term.
- auto update() -> bool override
- Update the content of the element.
- auto size() const -> std::size_t override
- Get the size of the task.
- auto type() const -> Type override
- The JointDynamicsTask is an equality task.
- auto isValid() const -> bool override
- Determines the validity of the objects retrieved with getA() and getB()
Function documentation
bool BipedalLocomotion:: TSID:: JointDynamicsTask:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> paramHandler) override
Initialize the planner.
Parameters | |
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paramHandler | pointer to the parameters handler. |
Returns | True in case of success, false otherwise. |
bool BipedalLocomotion:: TSID:: JointDynamicsTask:: setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) override
Set the kinDynComputations object.
Parameters | |
---|---|
kinDyn | pointer to a kinDynComputations object. |
Returns | True in case of success, false otherwise. |
bool BipedalLocomotion:: TSID:: JointDynamicsTask:: setVariablesHandler(const System:: VariablesHandler& variablesHandler) override
Set the set of variables required by the task.
Parameters | |
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variablesHandler | reference to a variables handler. |
Returns | True in case of success, false otherwise. |
The variables are stored in the System::
bool BipedalLocomotion:: TSID:: JointDynamicsTask:: setMassMatrixRegularization(const Eigen::Ref<const Eigen::MatrixXd>& matrix)
Set the mass matrix regularization term.
Parameters | |
---|---|
matrix | the regularization term for the mass matrix. @notice Calling this function is not mandatory. Call it only if you want to add a regularization term. |
Returns | true in case of success, false otherwise. |
i.e. . Where is the mass matrix and is the matrix regularization term.
bool BipedalLocomotion:: TSID:: JointDynamicsTask:: update() override
Update the content of the element.
Returns | True in case of success, false otherwise. |
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std::size_t BipedalLocomotion:: TSID:: JointDynamicsTask:: size() const override
Get the size of the task.
Returns | the size of the task. |
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(I.e the number of rows of the vector b)
Type BipedalLocomotion:: TSID:: JointDynamicsTask:: type() const override
The JointDynamicsTask is an equality task.
Returns | the type of the task. |
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