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

VariableRegularizationTask is a concrete implementation of the Task.

Please use this element if you want to regularize a variable to a given value. The task represents the following equation

where are the elements of the variable you want to regularize to a given value.

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 setVariablesHandler(const System::VariablesHandler& variablesHandler) -> bool override: Set the set of variables required by the task.
auto setSetPoint(Eigen::Ref<const Eigen::VectorXd> setPoint) -> bool: Set the desired setpoint.
auto size() const -> std::size_t override: Get the size of the task.
auto type() const -> Type override: The VariableRegularizationTask 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
`variable_name`	`string`	Name of the variable that you want to regularize	Yes
`variable_size`	`int`	Number of the elements that will be regularized.	Yes
`elements_name`	`vector`	Name of the elements to consider. If not specified all the elements are regularize to the desired vector	No

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.

Set the desired setpoint.

Parameters
setPoint	vector containing the desired variable set point.
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)

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.