Class TaskToConstraint

• Defined in File TaskToConstraint.h

Inheritance Relationships

Base Type

• public OpenSoT::constraints::BilateralConstraint (Class BilateralConstraint)

Class Documentation

class TaskToConstraint : public OpenSoT::constraints::BilateralConstraint

The TaskToConstraint class transforms a task into an inequality constraint which bounds the error in between err_lb and err_ub.

BilateralConstraint: \( b + err_lb <= A*x <= b + err_ub \)

Public Types

typedef std::shared_ptr<OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>> TaskPtr

typedef std::shared_ptr<OpenSoT::constraints::TaskToConstraint> Ptr

Public Functions

TaskToConstraint(TaskPtr task)

TaskToConstraint creates an equality TaskToConstraint from a task Calling update on the constraint will also update the task.

Parameters

task –

TaskToConstraint(TaskPtr task, const Eigen::VectorXd &err_lb, const Eigen::VectorXd &err_ub)

TaskToConstraint creates a TaskToConstraint from a task Calling update on the constraint will also update the task.

Parameters

task –

virtual void update()

update updates the adapted task and the adapter constraint

Parameters

q –

Protected Functions

void generateAll()

inline virtual void _log(XBot::MatLogger2::Ptr logger)

_log can be used to log internal Constraint variables

Parameters

logger – a shared pointer to a MatLogger