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

BaseDynamicsTask is a concrete implementation of the Task.

Please use this element if you want to consider the base dynamics only. The task represents the following equation

where the suffix indicates the first 6 rows of the vector/matrix. is the robot jacobian associated to the contact wrench .

Base classes

struct TSIDLinearTask: TSIDLinearTask specializes a LinearTask in the case of Task based Inverse Dynamics.

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) -> bool override: Initialize the planner.
auto setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) -> bool override: 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 size() const -> std::size_t override: Get the size of the task.
auto type() const -> Type override: The BaseDynamicsTask is an equality task.
auto isValid() const -> bool override: Determines the validity of the objects retrieved with getA() and getB()

Initialize the planner.

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

the following parameters are required by the class

Parameter Name	Type	Description	Mandatory
`robot_acceleration_variable_name`	`string`	Name of the variable contained in `VariablesHandler` describing the robot acceleration	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

Set the kinDynComputations object.

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

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.

Update the content of the element.

Returns	True in case of success, false otherwise.

Get the size of the task.

Returns	the size of the task.

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

The BaseDynamicsTask is an equality task.

Returns	the type of the task.

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

Returns	True if the objects are valid, false otherwise.