48 using Ptr = std::shared_ptr<RegularisationTask<C> >;
70 if(old_cols != sizeofvar)
void onDeactivation()
Definition: RegularisationTask.h:63
void onUpdateAffineFunction(double current_time, double dt)
Definition: RegularisationTask.h:61
void onActivation()
Definition: RegularisationTask.h:59
Eigen::MatrixXd & A()
Definition: AffineFunction.cc:52
RegularisationTask< optim::ControlVariable::JointTorque > JointTorqueRegularisationTask
Definition: RegularisationTask.h:83
void resize(int rows, int cols)
Definition: WeightedEuclidianNormFunction.cc:117
void computeQuadraticCost()
Definition: WeightedEuclidianNormFunction.cc:91
Definition: GenericTask.h:50
RegularisationTask< optim::ControlVariable::JointAcceleration > JointAccelerationRegularisationTask
Definition: RegularisationTask.h:81
optim::ControlVariable getControlVariable() const
Definition: TaskBase.cc:280
std::shared_ptr< ConfigurableOrcaObject > Ptr
Definition: ConfigurableOrcaObject.h:17
RegularisationTask< optim::ControlVariable::ExternalWrench > WrenchRegularisationTask
Definition: RegularisationTask.h:84
std::shared_ptr< const optim::Problem > getProblem() const
Definition: TaskBase.cc:554
Eigen::VectorXd & b()
Definition: AffineFunction.cc:57
void onResize()
Definition: RegularisationTask.h:65
const double DefaultWeight
Definition: RegularisationTask.h:50
RegularisationTask< optim::ControlVariable::GeneralisedTorque > GeneralisedTorqueRegularisationTask
Definition: RegularisationTask.h:82
#define ORCA_REGISTER_CLASS(CLASSNAME,...)
Definition: Factory.h:74
void setWeight(double weight)
Definition: GenericTask.cc:36
void setRampDuration(double ramp_time)
Definition: TaskBase.cc:148
math::WeightedEuclidianNormFunction & euclidianNorm()
Definition: GenericTask.cc:61
Definition: CartesianAccelerationPID.h:44
ControlVariable
Definition: ControlVariable.h:44
RegularisationTask< optim::ControlVariable::X > GlobalRegularisationTask
Definition: RegularisationTask.h:85
Definition: RegularisationTask.h:45
RegularisationTask(const std::string &name)
Definition: RegularisationTask.h:52
RegularisationTask< optim::ControlVariable::GeneralisedAcceleration > GeneralisedAccelerationRegularisationTask
Definition: RegularisationTask.h:80
int cols() const
Definition: AffineFunction.cc:67