BipedalLocomotion::TSID::TSIDLinearTask struct

#include <BipedalLocomotion/TSID/TSIDLinearTask.h>

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

Base classes

class BipedalLocomotion::System::LinearTask

LinearTask describes a Linear Task element.

Derived 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 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.

class VariableRegularizationTask

VariableRegularizationTask is a concrete implementation of the Task.

Constructors, destructors, conversion operators

~TSIDLinearTask() defaulted virtual

Public functions

auto setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) -> bool virtual