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

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.

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.

Note

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 generalized robot acceleration	Yes
`robot_torque_variable_name`	`string`	Name of the variable contained in `VariablesHandler` describing the robot torque	Yes
`verbosity`	`bool`	Verbosity of the solver. Default value `false`	No

Where the generalized robot acceleration is a vector containing the base acceleration (expressed in mixed representation) and the joint accelerations,

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.