class
TaskSpaceInverseDynamicsTaskSpaceInverseDynamics implements the interface for the task space inverse dynamics.
Please inherit this class if you want to implement your custom Task TSID. The TSIDState is a struct containing the joint acceleration, joint torques and contact wrenches. The TaskSpaceInverseDynamics can be used to generate the desired joint torques to be sent to the low-level torque controllers.
Base classes
-
template<class _Task, class _State>class BipedalLocomotion::System::ILinearTaskSolver<TSIDLinearTask, TSIDState>
- ILinearTaskSolver describes the interface for solving problem related to LinearTask class.
Derived classes
Constructors, destructors, conversion operators
- ~TaskSpaceInverseDynamics() defaulted virtual
- Destructor.