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bindings/python/TSID/include/BipedalLocomotion/bindings/TSID/VariableRegularizationTask.h
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| /** | ||
| * @file VariableRegularizationTask.h | ||
| * @authors Giulio Romualdi | ||
| * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and | ||
| * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version. | ||
| */ | ||
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| #ifndef BIPEDAL_LOCOMOTION_BINDINGS_TSID_VARIABLE_REGULARIZATION_TASK_H | ||
| #define BIPEDAL_LOCOMOTION_BINDINGS_TSID_VARIABLE_REGULARIZATION_TASK_H | ||
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| #include <pybind11/pybind11.h> | ||
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| namespace BipedalLocomotion | ||
| { | ||
| namespace bindings | ||
| { | ||
| namespace TSID | ||
| { | ||
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| void CreateVariableRegularizationTask(pybind11::module& module); | ||
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| } // namespace TSID | ||
| } // namespace bindings | ||
| } // namespace BipedalLocomotion | ||
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| #endif // BIPEDAL_LOCOMOTION_BINDINGS_TSID_VARIABLE_REGULARIZATION_TASK_H |
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| /** | ||
| * @file VariableRegularizationTask.cpp | ||
| * @authors Giulio Romualdi | ||
| * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and | ||
| * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version. | ||
| */ | ||
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| #include <pybind11/eigen.h> | ||
| #include <pybind11/pybind11.h> | ||
| #include <pybind11/stl.h> | ||
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| #include <BipedalLocomotion/TSID/TSIDLinearTask.h> | ||
| #include <BipedalLocomotion/TSID/VariableRegularizationTask.h> | ||
| #include <BipedalLocomotion/bindings/TSID/VariableRegularizationTask.h> | ||
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| namespace BipedalLocomotion | ||
| { | ||
| namespace bindings | ||
| { | ||
| namespace TSID | ||
| { | ||
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| void CreateVariableRegularizationTask(pybind11::module& module) | ||
| { | ||
| namespace py = ::pybind11; | ||
| using namespace ::BipedalLocomotion::TSID; | ||
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| py::class_<VariableRegularizationTask, | ||
| std::shared_ptr<VariableRegularizationTask>, | ||
| TSIDLinearTask>(module, "VariableRegularizationTask") | ||
| .def(py::init()) | ||
| .def("set_set_point", &VariableRegularizationTask::setSetPoint, py::arg("set_point")); | ||
| } | ||
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| } // namespace TSID | ||
| } // namespace bindings | ||
| } // namespace BipedalLocomotion |
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88 changes: 88 additions & 0 deletions
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src/TSID/include/BipedalLocomotion/TSID/VariableRegularizationTask.h
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| /** | ||
| * @file VariableRegularizationTask.h | ||
| * @authors Giulio Romualdi | ||
| * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and | ||
| * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version. | ||
| */ | ||
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| #ifndef BIPEDAL_LOCOMOTION_TSID_VARIABLE_REGULARIZATION_TASK_H | ||
| #define BIPEDAL_LOCOMOTION_TSID_VARIABLE_REGULARIZATION_TASK_H | ||
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| #include <BipedalLocomotion/TSID/TSIDLinearTask.h> | ||
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| namespace BipedalLocomotion | ||
| { | ||
| namespace TSID | ||
| { | ||
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| /** | ||
| * VariableRegularizationTask is a concrete implementation of the Task. Please use this element if | ||
| * you want to regularize a variable to a given value. The task represents the following equation | ||
| * \f[ | ||
| * x = x_{des} | ||
| * \f] | ||
| * where \f$x\f$ are the elements of the variable you want to regularize to a given value. | ||
| */ | ||
| class VariableRegularizationTask : public TSIDLinearTask | ||
| { | ||
| std::string m_variableName; /**< Name of the variable considered that will be regularized */ | ||
| std::vector<std::string> m_controlledElements; /**< Name of the variable elements considered in | ||
| the task */ | ||
| bool m_isInitialized{false}; /**< True if the task has been initialized. */ | ||
| bool m_isValid{false}; /**< True if the task is valid. */ | ||
| std::size_t m_variableSize{0}; /**< Size of the regularized variable. */ | ||
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| public: | ||
| /** | ||
| * Initialize the planner. | ||
| * @param paramHandler pointer to the parameters handler. | ||
| * @param variablesHandler reference to a variables handler. | ||
| * @note the following parameters are required by the class | ||
| * | Parameter Name | Type | Description | Mandatory | | ||
| * |:----------------:|:--------:|:--------------------------------------------------------------------------------------:|:---------:| | ||
| * | `variable_name` | `string` | Name of the variable that you want to regularize | Yes | | ||
| * | `variable_size` | `int` | Number of the elements that will be regularized. | Yes | | ||
| * | `elements_name` | `vector` | Name of the elements to consider. If not specified all the elements are regularize to the desired vector | No | | ||
| * @return True in case of success, false otherwise. | ||
| */ | ||
| bool initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) override; | ||
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| /** | ||
| * Set the set of variables required by the task. The variables are stored in the | ||
| * System::VariablesHandler. | ||
| * @param variablesHandler reference to a variables handler. | ||
| * @note The variablesHandler must contain a variable named as the parameter `variable_name`. | ||
| * @return True in case of success, false otherwise. | ||
| */ | ||
| bool setVariablesHandler(const System::VariablesHandler& variablesHandler) override; | ||
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| /** | ||
| * Set the desired setpoint. | ||
| * @param setPoint vector containing the desired variable set point. | ||
| * @return True in case of success, false otherwise. | ||
| */ | ||
| bool setSetPoint(Eigen::Ref<const Eigen::VectorXd> setPoint); | ||
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| /** | ||
| * Get the size of the task. (I.e the number of rows of the vector b) | ||
| * @return the size of the task. | ||
| */ | ||
| std::size_t size() const override; | ||
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| /** | ||
| * The VariableRegularizationTask is an equality task. | ||
| * @return the type of the task. | ||
| */ | ||
| Type type() const override; | ||
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| /** | ||
| * Determines the validity of the objects retrieved with getA() and getB() | ||
| * @return True if the objects are valid, false otherwise. | ||
| */ | ||
| bool isValid() const override; | ||
| }; | ||
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| } // namespace TSID | ||
| } // namespace BipedalLocomotion | ||
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| #endif // BIPEDAL_LOCOMOTION_TSID_VARIABLE_REGULARIZATION_TASK_H |
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