#include <tvm/task_dynamics/abstract/TaskDynamics.h>

Inheritance diagram for tvm::task_dynamics::abstract::TaskDynamics:

Public Member Functions
virtual	~TaskDynamics ()=default

std::unique_ptr< TaskDynamicsImpl >	impl (FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs) const

Order	order () const

Protected Member Functions
virtual std::unique_ptr< TaskDynamicsImpl >	impl_ (FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs) const =0

virtual Order	order_ () const =0

Detailed Description

This is a base class to describe how a task is to be regulated, i.e. how to compute e^(d)* for a task with constraint part f op rhs, where f is a function, op is one operator among (==, <=, >=), rhs is a constant or a vector and e = f-rhs. d is the order of the task dynamics.

TaskDynamics is a lightweight descriptor, independent of a particular task, that is meant for the end user. Internally, it is turned into a TaskDynamicsImpl when linked to a given function and rhs.

Constructor & Destructor Documentation

◆ ~TaskDynamics()

virtual tvm::task_dynamics::abstract::TaskDynamics::~TaskDynamics ( )

virtualdefault

Member Function Documentation

◆ impl()

std::unique_ptr<TaskDynamicsImpl> tvm::task_dynamics::abstract::TaskDynamics::impl	(	FunctionPtr	f,
		constraint::Type	t,
		const Eigen::VectorXd &	rhs
	)		const

◆ impl_()

virtual std::unique_ptr<TaskDynamicsImpl> tvm::task_dynamics::abstract::TaskDynamics::impl_	(	FunctionPtr	f,
		constraint::Type	t,
		const Eigen::VectorXd &	rhs
	)		const

protectedpure virtual

Implemented in tvm::task_dynamics::VelocityDamper, tvm::task_dynamics::ProportionalDerivative, tvm::task_dynamics::Proportional, tvm::task_dynamics::Reference, tvm::task_dynamics::OneStepToZero, tvm::task_dynamics::None, and tvm::task_dynamics::Constant.

◆ order()

Order tvm::task_dynamics::abstract::TaskDynamics::order ( ) const

◆ order_()

virtual Order tvm::task_dynamics::abstract::TaskDynamics::order_ ( ) const