TaskInterface.hpp File Reference

#include <rtt/TaskContext.hpp>
#include <rtt/Port.hpp>
#include <base/samples/Joints.hpp>
#include <base/samples/RigidBodyStateSE3.hpp>
#include <wbc/core/TaskConfig.hpp>

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Classes
class	wbc::TaskInterface
	The TaskInterface class contains I/O ports for each task. More...

Namespaces
namespace	wbc

Typedefs
typedef std::shared_ptr< RobotModel >	wbc::RobotModelPtr
typedef std::shared_ptr< Scene >	wbc::ScenePtr
typedef RTT::InputPort< base::samples::RigidBodyStateSE3 >	wbc::CartRefPort
typedef RTT::InputPort< base::samples::Joints >	wbc::JntRefPort
typedef RTT::InputPort< base::VectorXd >	wbc::WeightInPort
typedef RTT::InputPort< double >	wbc::ActivationPort
typedef RTT::OutputPort< base::samples::RigidBodyStateSE3 >	wbc::CartStatusPort
typedef RTT::OutputPort< base::samples::Joints >	wbc::JntStatusPort
typedef RTT::OutputPort< wbc::TaskStatus >	wbc::TaskStatusPort
typedef std::shared_ptr< CartRefPort >	wbc::CartRefPortPtr
typedef std::shared_ptr< JntRefPort >	wbc::JntRefPortPtr
typedef std::shared_ptr< WeightInPort >	wbc::WeightInPortPtr
typedef std::shared_ptr< ActivationPort >	wbc::ActivationPortPtr
typedef std::shared_ptr< CartStatusPort >	wbc::CartStatusPortPtr
typedef std::shared_ptr< JntStatusPort >	wbc::JntStatusPortPtr
typedef std::shared_ptr< TaskStatusPort >	wbc::TaskStatusPortPtr