BipedalLocomotion::TSID namespace

Classes

class AngularMomentumTask

AngularMomentumTask is a concrete implementation of the TSIDLinearTask.

class BaseDynamicsTask

BaseDynamicsTask is a concrete implementation of the Task.

class CoMTask

ComTask is a concrete implementation of the TSIDLinearTask.

class FeasibleContactWrenchTask

FeasibleContactWrenchTask is a concrete implementation of the TSIDLinearTask.

class JointDynamicsTask

JointsDynamicsTask is a concrete implementation of the Task.

class JointTrackingTask

JointsTrackingTask is a concrete implementation of the Task.

class QPFixedBaseTSID

QPFixedBaseTSID is specialization of QPTSID class in the case of fixed base system.

class QPTSID

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

class R3Task

SE3Task is a concrete implementation of the OptimalControlElement.

class SE3Task

SE3Task is a concrete implementation of the OptimalControlElement.

class SO3Task

SO3Task is a concrete implementation of the TSIDLinearTask.

struct TSIDState

State of the TaskSpaceInverseDynamics.

class TaskSpaceInverseDynamics

TaskSpaceInverseDynamics implements the interface for the task space inverse dynamics.

struct TaskSpaceInverseDynamicsProblem

TaskSpaceInverseDynamicsProblem store all the ingredients to run an modify at runtime an TaskSpaceInverseDynamics problem.

struct TSIDLinearTask

TSIDLinearTask specializes a LinearTask in the case of Task based Inverse Dynamics.

class VariableRegularizationTask

VariableRegularizationTask is a concrete implementation of the Task.

Typedefs

using TSIDLinearTaskFactory = ::BipedalLocomotion::System::ILinearTaskFactory<TSIDLinearTask>

Functions

BLF_REGISTER_TSID_TASK(AngularMomentumTask)

BLF_REGISTER_TSID_TASK(BaseDynamicsTask)

BLF_REGISTER_TSID_TASK(CoMTask)

BLF_REGISTER_TSID_TASK(FeasibleContactWrenchTask)

BLF_REGISTER_TSID_TASK(JointDynamicsTask)

BLF_REGISTER_TSID_TASK(JointTrackingTask)

BLF_REGISTER_TSID_TASK(R3Task)

BLF_REGISTER_TSID_TASK(SE3Task)

BLF_REGISTER_TSID_TASK(SO3Task)