BipedalLocomotion::TSID::QPFixedBaseTSID class

QPFixedBaseTSID 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::addTask. Each task has a given priority. Currently we support only priority equal to 0 or 1. If the task priority is set to 0 the task will be considered as a hard task, thus treated as a constraint. If the priority is equal to 1 the task will be embedded in the cost function. The class is also able to treat inequality constraints. Note that this class considers just one contact wrench as we assume the external wrench acting on only the base link. Here you can find an example of the QPFixedBaseTSID class.

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Base classes

class QPTSID
QPTSID is a concrete class and implements a task space inverse dynamics.

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.