BipedalLocomotion::TSID::TaskSpaceInverseDynamics class

#include <BipedalLocomotion/TSID/TaskSpaceInverseDynamics.h>

TaskSpaceInverseDynamics implements the interface for the task space inverse dynamics.

Please inherit this class if you want to implement your custom Task TSID. The TSIDState is a struct containing the joint acceleration, joint torques and contact wrenches. The TaskSpaceInverseDynamics can be used to generate the desired joint torques to be sent to the low-level torque controllers.

Base classes

template<class _Task, class _State>

class BipedalLocomotion::System::ILinearTaskSolver<TSIDLinearTask, TSIDState>

ILinearTaskSolver describes the interface for solving problem related to LinearTask class.

Derived classes

class QPTSID

QPTSID is a concrete class and implements a task space inverse dynamics.

Constructors, destructors, conversion operators

~TaskSpaceInverseDynamics() defaulted virtual

Destructor.