BipedalLocomotion::TSID::AngularMomentumTask class
#include <BipedalLocomotion/TSID/AngularMomentumTask.h>

AngularMomentumTask is a concrete implementation of the TSIDLinearTask.

Please use this element if you want to control the Centroidal angular momentum of the robot. The task represents the following equation

where the suffix is the skew operator. is the position of the contact , is the CoM position, is the contact wrench expressed in mixed representation. Finally is the desired rate of change of the angular momentum. The angular momentum rate of change is computed by a Proportional controller in .

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 AngularMomentumTask.
auto setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) -> bool: Set the kinDynComputations object.
auto setVariablesHandler(const System::VariablesHandler& variablesHandler) -> bool override: Set the set of variables required by the task.
auto update() -> bool override: Update the content of the element.
auto setSetPoint(Eigen::Ref<const Eigen::Vector3d> angularMomentum, Eigen::Ref<const Eigen::Vector3d> angularMomentumDerivative) -> bool: Set the desired reference point.
auto size() const -> std::size_t override: Get the size of the task.
auto type() const -> Type override: The AngularMomentumTask 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::AngularMomentumTask::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) override

Initialize the AngularMomentumTask.

Parameters
paramHandler	pointer to the parameters handler.
Returns	True in case of success, false otherwise.

Note

the following parameters are required by the class

Parameter Name	Type	Description	Mandatory
`kp`	`double`	Proportional gain of the angular momentum controller.	Yes
`max_number_of_contacts`	`int`	Maximum number of contacts. The default value is 0.	No
`CONTACT_<i>`	`group`	`i` is an `int` between `0` and `max_number_of_contacts` The group must contain `variable_name` and `frame_name`	Yes
`variable_name`	`string`	Name of the variable contained in `VariablesHandler` describing the contact	Yes
`frame_name`	`string`	Name of the frame associated to the contact	Yes

bool BipedalLocomotion::TSID::AngularMomentumTask::setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn)

Set the kinDynComputations object.

Parameters
kinDyn	pointer to a kinDynComputations object.
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::TSID::AngularMomentumTask::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::AngularMomentumTask::update() override

Update the content of the element.

Returns	True in case of success, false otherwise.

bool BipedalLocomotion::TSID::AngularMomentumTask::setSetPoint(Eigen::Ref<const Eigen::Vector3d> angularMomentum, Eigen::Ref<const Eigen::Vector3d> angularMomentumDerivative)

Set the desired reference point.

Parameters
angularMomentum	desired centroidal angular momentum.
angularMomentumDerivative	desired rate of change of the centroidal angular momentum.
Returns	True in case of success, false otherwise.

std::size_t BipedalLocomotion::TSID::AngularMomentumTask::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::AngularMomentumTask::type() const override

The AngularMomentumTask is an equality task.

Returns	the type of the task.

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

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

Returns	True if the objects are valid, false otherwise.