class
QPFixedBaseTSIDQPFixedBaseTSID is specialization of QPTSID class in the case of fixed base system.
The TSID is here implemented as Quadratic Programming (QP) problem. The user should set the desired task with the method QPFixedBaseTSID::
Base classes
Constructors, destructors, conversion operators
- QPFixedBaseTSID()
- Constructor.
- ~QPFixedBaseTSID()
- Destructor.
Public functions
-
auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool override - Initialize the TSID algorithm.
-
auto finalize(const System::
VariablesHandler& handler) -> bool override - Finalize the TSID.
- auto setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) -> bool
- Set the kinDynComputations object.
Function documentation
bool BipedalLocomotion:: TSID:: QPFixedBaseTSID:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler) override
Initialize the TSID algorithm.
Parameters | |
---|---|
handler | pointer to the IParametersHandler interface.h |
Returns | True in case of success, false otherwise. |
bool BipedalLocomotion:: TSID:: QPFixedBaseTSID:: finalize(const System:: VariablesHandler& handler) override
Finalize the TSID.
Parameters | |
---|---|
handler | parameter handler. |
Returns | true in case of success, false otherwise. |
bool BipedalLocomotion:: TSID:: QPFixedBaseTSID:: 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. |