Class CoM

Defined in File CoM.h

Inheritance Relationships

Base Type

public OpenSoT::Task< Eigen::MatrixXd, Eigen::VectorXd > (Template Class Task)

Class Documentation

class CoM : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>

The CoM task computes the wrenches at the contact, in world frame, in order to realize a certain acceleration and variation of angular momentum at the CoM considering the Centroidal Dynamics:

 m*ddr = sum(f) + mg
 dL = sum(pxf + tau)

Note: variables are wrenches: w = [f tau]’

Public Types

typedef std::shared_ptr<CoM> Ptr

Public Functions

CoM(std::vector<AffineHelper> wrenches, std::vector<std::string> &links_in_contact, XBot::ModelInterface &robot)

~CoM()

virtual void _update(): Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

void setLinearReference(const Eigen::Vector3d &desiredPosition)

void setLinearReference(const Eigen::Vector3d &desiredPosition, const Eigen::Vector3d &desiredVelocity)

void setLinearReference(const Eigen::Vector3d &desiredPosition, const Eigen::Vector3d &desiredVelocity, const Eigen::Vector3d &desiredAcceleration)

void setAngularReference(const Eigen::Vector3d &desiredAngularMomentum)

void setAngularReference(const Eigen::Vector3d &desiredAngularMomentum, const Eigen::Vector3d &desiredVariationAngularMomentum)

void setLinksInContact(const std::vector<std::string> &links_in_contact)

std::vector<std::string> getLinksInContact()

Eigen::Vector3d getLinearReference() const

void getLinearReference(Eigen::Vector3d &desiredPosition, Eigen::Vector3d &desiredVelocity) const

void getLinearReference(Eigen::Vector3d &desiredPosition, Eigen::Vector3d &desiredVelocity, Eigen::Vector3d &desiredAcceleration) const

Eigen::Vector3d getAngularReference() const

void getAngularReference(Eigen::Vector3d &desiredAngularMomentum, Eigen::Vector3d &desiredVariationAngularMomentum) const

Eigen::Vector3d getActualPosition() const

Eigen::Vector3d getActualVelocity() const

Eigen::Vector3d getActualAngularMomentum() const

std::string getBaseLink()

getBaseLink an utility function that always returns “world”

Returns: “world”

std::string getDistalLink()

getDistalLink an utility function that always

Returns

void setLambda(double lambda, double lambda2, double lambdaAngularMomentum)

const Eigen::Vector3d &getError()

getError returns the position error between actual and reference positions

Returns: a \(R^{3}\) vector describing cartesian error between actual and reference position

const Eigen::Vector3d &getVelocityError()

getError returns the position error between actual and reference positions

Returns: a \(R^{3}\) vector describing cartesian error between actual and reference position

const Eigen::Vector3d &getAngularMomentumError()

const Eigen::MatrixXd &computeA(const std::vector<std::string> &links_in_contact)

virtual bool reset()

reset permits to reset a task and all related variables.

The correctness of the implementation depends to the particular task. Default implementation does nothing and return false.

Returns: false

Public Members

Eigen::Vector3d positionError

Eigen::Vector3d velocityError

Eigen::Vector3d angularMomentumError