BipedalLocomotion::System::LinearTask class
#include <BipedalLocomotion/System/LinearTask.h>

LinearTask describes a Linear Task element.

The LinearTask is described by a matrix and a vector . This class describes both a linear equality constraint and a linear inequality constraint. In case of equality constraint and represents: In case of inequality constraint and represents:

Derived classes

struct BipedalLocomotion::IK::IKLinearTask: IKLinearTask specializes a LinearTask in the case of Inverse Kinematics.
struct BipedalLocomotion::TSID::TSIDLinearTask: TSIDLinearTask specializes a LinearTask in the case of Task based Inverse Dynamics.

Public types

enum class Type { equality, inequality }: Type of the task.

Constructors, destructors, conversion operators

~LinearTask() defaulted virtual: Destructor.

Public functions

auto setVariablesHandler(const System::VariablesHandler& variablesHandler) -> bool virtual: Set the set of variables required by the task.
auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) -> bool virtual: Initialize the task.
auto update() -> bool virtual: Update the content of the task.
auto getA() const -> Eigen::Ref<const Eigen::MatrixXd>: Get the matrix A.
auto getB() const -> Eigen::Ref<const Eigen::VectorXd>: Get the vector b.
auto getDescription() const -> const std::string&: Get the description of the task.
auto size() const -> std::size_t pure virtual: Get the size of the task.
auto type() const -> Type pure virtual: Get the type of the task.
auto isValid() const -> bool pure virtual: Determines the validity of the objects retrieved with getA() and getB()
auto getResidual(Eigen::Ref<const Eigen::VectorXd> solution) const -> Eigen::VectorXd: Compute the residual of the task.

Protected functions

auto subA(const System::VariablesHandler::VariableDescription& description) -> iDynTree::MatrixView<double>: Extract the submatrix A associated to a given variable.
auto subA(const System::VariablesHandler::VariableDescription& description) const -> iDynTree::MatrixView<const double>: Extract the submatrix A associated to a given variable.

Protected variables

Eigen::MatrixXd m_A: Task Matrix.
Eigen::VectorXd m_b: Task Vector.
std::string m_description: String describing the content of the task.

Enum documentation

enum class BipedalLocomotion::System::LinearTask::Type

Type of the task.

Namely an equality or an inequality task.

Function documentation

bool BipedalLocomotion::System::LinearTask::setVariablesHandler(const System::VariablesHandler& variablesHandler) virtual

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::System::LinearTask::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) virtual

Initialize the task.

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

bool BipedalLocomotion::System::LinearTask::update() virtual

Update the content of the task.

Returns	True in case of success, false otherwise.

Eigen::Ref<const Eigen::MatrixXd> BipedalLocomotion::System::LinearTask::getA() const

Get the matrix A.

Returns	a const reference to the matrix A.

Eigen::Ref<const Eigen::VectorXd> BipedalLocomotion::System::LinearTask::getB() const

Get the vector b.

Returns	a const reference to the vector b.

const std::string& BipedalLocomotion::System::LinearTask::getDescription() const

Get the description of the task.

Returns	a string containing the description of the task.

std::size_t BipedalLocomotion::System::LinearTask::size() const pure virtual

Get the size of the task.

Returns	the size of the task.

(I.e the number of rows of the vector b)

Type BipedalLocomotion::System::LinearTask::type() const pure virtual

Get the type of the task.

Returns	the size of the task.

Namely equality or inequality.

bool BipedalLocomotion::System::LinearTask::isValid() const pure virtual

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

Returns	True if the objects are valid, false otherwise.

Eigen::VectorXd BipedalLocomotion::System::LinearTask::getResidual(Eigen::Ref<const Eigen::VectorXd> solution) const

Compute the residual of the task.

Returns	the residual associated to the task

The residual is defined as

where is the solution of the ILinearTaskSolver