54 using Ptr = std::shared_ptr<GenericTask>;
70 const Eigen::MatrixXd&
getE()
const;
71 const Eigen::VectorXd&
getf()
const;
73 void setE(
const Eigen::MatrixXd& newE);
74 void setf(
const Eigen::VectorXd& newf);
76 virtual void print()
const;
83 virtual bool rampUp(
double time_since_start);
86 virtual bool rampDown(
double time_since_stop);
88 virtual void onCompute(
double current_time,
double dt);
89 virtual void computeQuadraticCost();
void setf(const Eigen::VectorXd &newf)
Definition: GenericTask.cc:86
Definition: WeightedEuclidianNormFunction.h:48
virtual void onUpdateAffineFunction(double current_time, double dt)=0
Definition: GenericTask.h:50
void setE(const Eigen::MatrixXd &newE)
Definition: GenericTask.cc:81
virtual bool rampDown(double time_since_stop)
Definition: GenericTask.cc:146
virtual bool rampUp(double time_since_start)
Definition: GenericTask.cc:101
std::shared_ptr< ConfigurableOrcaObject > Ptr
Definition: ConfigurableOrcaObject.h:17
GenericTask(const std::string &name, optim::ControlVariable control_var)
Definition: GenericTask.cc:10
const Eigen::MatrixXd & getE() const
Definition: GenericTask.cc:71
int cols() const
Definition: GenericTask.cc:46
math::Size getSize() const
Definition: GenericTask.cc:41
virtual ~GenericTask()
Definition: GenericTask.cc:17
int rows() const
Definition: GenericTask.cc:51
void setWeight(double weight)
Definition: GenericTask.cc:36
double getWeight() const
Definition: GenericTask.cc:31
math::WeightedEuclidianNormFunction & euclidianNorm()
Definition: GenericTask.cc:61
const math::WeightedEuclidianNormFunction::QuadraticCost & getQuadraticCost() const
Definition: GenericTask.cc:56
virtual void onDeactivation()
Definition: GenericTask.cc:160
Definition: CartesianAccelerationPID.h:44
ControlVariable
Definition: ControlVariable.h:44
const math::WeightedEuclidianNormFunction & getEuclidianNorm() const
Definition: GenericTask.cc:66
Definition: WeightedEuclidianNormFunction.h:53
Eigen::VectorXd & f()
Definition: GenericTask.cc:96
Eigen::MatrixXd & E()
Definition: GenericTask.cc:91
The common base class for tasks and constraints.
Definition: TaskBase.h:59
virtual void print() const
Definition: GenericTask.cc:22
const Eigen::VectorXd & getf() const
Definition: GenericTask.cc:76