BipedalLocomotion::TSID::TaskSpaceInverseDynamicsProblem struct
#include <BipedalLocomotion/TSID/TaskSpaceInverseDynamics.h>

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

Public functions

auto isValid() const -> bool
Check if the problem is valid.
template<std::size_t index>
auto get() -> std::tuple_element_t<index, TaskSpaceInverseDynamics>&
Get the element of the problem from a given index.

Public variables

System::VariablesHandler variablesHandler
Container of the variables considered by the TSID problem.
std::unordered_map<std::string, std::shared_ptr<System::WeightProvider>> weights
Map containing the weight associated to each task stored considering the task name.
std::unique_ptr<TaskSpaceInverseDynamics> tsid
Pointer to the TSID solver.

Function documentation

bool BipedalLocomotion::TSID::TaskSpaceInverseDynamicsProblem::isValid() const

Check if the problem is valid.

Returns true if the problem is valid.

template<std::size_t index>
std::tuple_element_t<index, TaskSpaceInverseDynamics>& BipedalLocomotion::TSID::TaskSpaceInverseDynamicsProblem::get()

Get the element of the problem from a given index.

Template parameters
index a positive number from 0 to 2.