class
VariableRegularizationTaskVariableRegularizationTask is a concrete implementation of the Task.
Please use this element if you want to regularize a variable to a given value. The task represents the following equation
where are the elements of the variable you want to regularize to a given value.
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 setVariablesHandler(const System::
VariablesHandler& variablesHandler) -> bool override - Set the set of variables required by the task.
- auto setSetPoint(Eigen::Ref<const Eigen::VectorXd> setPoint) -> bool
- Set the desired setpoint.
- auto size() const -> std::size_t override
- Get the size of the task.
- auto type() const -> Type override
- The VariableRegularizationTask 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:: VariableRegularizationTask:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> paramHandler) override
Initialize the planner.
Parameters | |
---|---|
paramHandler | pointer to the parameters handler. |
Returns | True in case of success, false otherwise. |
bool BipedalLocomotion:: TSID:: VariableRegularizationTask:: setVariablesHandler(const System:: VariablesHandler& variablesHandler) override
Set the set of variables required by the task.
Parameters | |
---|---|
variablesHandler | reference to a variables handler. |
Returns | True in case of success, false otherwise. |
The variables are stored in the System::
bool BipedalLocomotion:: TSID:: VariableRegularizationTask:: setSetPoint(Eigen::Ref<const Eigen::VectorXd> setPoint)
Set the desired setpoint.
Parameters | |
---|---|
setPoint | vector containing the desired variable set point. |
Returns | True in case of success, false otherwise. |
std::size_t BipedalLocomotion:: TSID:: VariableRegularizationTask:: size() const override
Get the size of the task.
Returns | the size of the task. |
---|
(I.e the number of rows of the vector b)
Type BipedalLocomotion:: TSID:: VariableRegularizationTask:: type() const override
The VariableRegularizationTask is an equality task.
Returns | the type of the task. |
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