BipedalLocomotion::TSID::VariableRegularizationTask class

VariableRegularizationTask 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

\[ x = x_{des} \]

where $x$ 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::VariablesHandler.

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.

bool BipedalLocomotion::TSID::VariableRegularizationTask::isValid() const override

Determines the validity of the objects retrieved with getA() and getB()

Returns True if the objects are valid, false otherwise.