class
#include <BipedalLocomotion/TSID/CoMTask.h>
CoMTask ComTask is a concrete implementation of the TSIDLinearTask.
Please use this element if you want to control the position of the CoM. The task assumes perfect control of the robot acceleration that contains the base linear and angular acceleration expressed in mixed representation and the joints acceleration. The task represents the following equation
where is the robot CoM jacobian and is the desired acceleration. The desired acceleration is chosen such that the CoM will asymptotically converge to the desired trajectory. is computed with a standard PD 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 task.
- 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 setSetPoint(Eigen::Ref<const Eigen::Vector3d> position, Eigen::Ref<const Eigen::Vector3d> velocity = Eigen::Vector3d::Zero(), Eigen::Ref<const Eigen::Vector3d> acceleration = Eigen::Vector3d::Zero()) -> bool
- Set the desired set-point of the trajectory.
- auto size() const -> std::size_t override
- Get the size of the task.
- auto type() const -> Type override
- The CoMTask 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:: CoMTask:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> paramHandler) override
Initialize the task.
Parameters | |
---|---|
paramHandler | pointer to the parameters handler. |
Returns | True in case of success, false otherwise. Where the generalized robot velocity is a vector containing the base spatial-velocity (expressed in mixed representation) and the joint velocities. |
bool BipedalLocomotion:: TSID:: CoMTask:: setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) override
Set the kinDynComputations object.
Parameters | |
---|---|
kinDyn | pointer to a kinDynComputations object. |
Returns | True in case of success, false otherwise. |
bool BipedalLocomotion:: TSID:: CoMTask:: 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::
bool BipedalLocomotion:: TSID:: CoMTask:: update() override
Update the content of the element.
Returns | True in case of success, false otherwise. |
---|
bool BipedalLocomotion:: TSID:: CoMTask:: setSetPoint(Eigen::Ref<const Eigen::Vector3d> position,
Eigen::Ref<const Eigen::Vector3d> velocity = Eigen::Vector3d::Zero(),
Eigen::Ref<const Eigen::Vector3d> acceleration = Eigen::Vector3d::Zero())
Set the desired set-point of the trajectory.
Parameters | |
---|---|
position | position of the CoM |
velocity | velocity of the CoM expressed in mixed representation |
acceleration | acceleration of the CoM expressed in mixed representation |
Returns | True in case of success, false otherwise. |
std::size_t BipedalLocomotion:: TSID:: CoMTask:: size() const override
Get the size of the task.
Returns | the size of the task. |
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(I.e the number of rows of the vector b)