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18 #ifndef __invdyn_inverse_dynamics_formulation_base_hpp__
19 #define __invdyn_inverse_dynamics_formulation_base_hpp__
21 #include "tsid/deprecated.hh"
37 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
49 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
65 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
87 virtual unsigned int nVar()
const = 0;
88 virtual unsigned int nEq()
const = 0;
89 virtual unsigned int nIn()
const = 0;
93 unsigned int priorityLevel,
94 double transition_duration=0.0) = 0;
98 unsigned int priorityLevel,
99 double transition_duration=0.0) = 0;
103 unsigned int priorityLevel,
104 double transition_duration=0.0) = 0;
119 double motion_weight=1.0,
unsigned int motion_priority_level=0) = 0;
131 double force_regularization_weight,
132 double motion_weight=-1.0) = 0;
134 virtual bool removeTask(
const std::string & taskName,
135 double transition_duration=0.0) = 0;
138 double transition_duration=0.0) = 0;
159 #endif // ifndef __invdyn_inverse_dynamics_formulation_base_hpp__
EIGEN_MAKE_ALIGNED_OPERATOR_NEW tasks::TaskContactForce & task
Definition: inverse-dynamics-formulation-base.hpp:51
Base template of a Task. Each class is defined according to a constant model of a robot.
Definition: task-base.hpp:36
Definition: inverse-dynamics-formulation-base.hpp:47
Definition: inverse-dynamics-formulation-base.hpp:35
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
std::shared_ptr< math::ConstraintBase > constraint
Definition: inverse-dynamics-formulation-base.hpp:40
TaskLevel(tasks::TaskBase &task, unsigned int priority)
Definition: inverse-dynamics-formulation-base.cpp:24
Eigen::Ref< Vector > RefVector
Definition: fwd.hpp:49
Definition: solver-HQP-output.hpp:32
Definition: task-motion.hpp:28
const typedef Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
std::shared_ptr< math::ConstraintBase > constraint
Definition: inverse-dynamics-formulation-base.hpp:52
Definition: constraint-bound.hpp:26
Definition: task-actuation.hpp:27
TaskLevelForce(tasks::TaskContactForce &task, unsigned int priority)
Definition: inverse-dynamics-formulation-base.cpp:30
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
EIGEN_MAKE_ALIGNED_OPERATOR_NEW tasks::TaskBase & task
Definition: inverse-dynamics-formulation-base.hpp:39
unsigned int priority
Definition: inverse-dynamics-formulation-base.hpp:53
pinocchio::container::aligned_vector< ConstraintLevel > HQPData
Definition: fwd.hpp:91
unsigned int priority
Definition: inverse-dynamics-formulation-base.hpp:41