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

FeasibleContactWrenchTask is a concrete implementation of the TSIDLinearTask.

Please use this element if you want to ensure that the contact wrench satisfies the constraints implemented in BipedalLocomotion::Math::ContactWrenchCone. Differently from the BipedalLocomotion::Math::ContactWrenchCone class, FeasibleContactWrenchTask requires also the positivstellensatz of the normal force written in local coordinate.

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.
void setContactActive(bool isActive): Set if the contact is active or not.
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::FeasibleContactWrenchTask::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) override

Initialize the task.

Returns	true in case of success/false otherwise.

Note

The following parameters are required:

Parameter Name	Type	Description	Mandatory
`frame_name`	`string`	Name of the frame associated to the contact	Yes
`variable_name`	`string`	Name of the variable contained in `VariablesHandler` describing the contact	Yes
`number_of_slices`	`int`	Number of slices used to split 90 deg.	Yes
`static_friction_coefficient`	`double`	Static friction coefficient.	Yes
`foot_limits_x`	`vector<double>`	x coordinate of the foot limits w.r.t the frame attached to the surface	Yes
`foot_limits_y`	`vector<double>`	y coordinate of the foot limits w.r.t the frame attached to the surface	Yes

bool BipedalLocomotion::TSID::FeasibleContactWrenchTask::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::FeasibleContactWrenchTask::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::VariablesHandler.

bool BipedalLocomotion::TSID::FeasibleContactWrenchTask::update() override

Update the content of the element.

Returns	True in case of success, false otherwise.

void BipedalLocomotion::TSID::FeasibleContactWrenchTask::setContactActive(bool isActive)

Set if the contact is active or not.

Parameters
isActive	true if the contact is active, false otherwise.

std::size_t BipedalLocomotion::TSID::FeasibleContactWrenchTask::size() const override

Get the size of the task.

Returns	the size of the task.

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

Type BipedalLocomotion::TSID::FeasibleContactWrenchTask::type() const override

The CoMTask is an equality task.

Returns	the size of the task.

bool BipedalLocomotion::TSID::FeasibleContactWrenchTask::isValid() const override

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

Returns	True if the objects are valid, false otherwise.