wbc::TaskInterface Class Reference

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

#include <TaskInterface.hpp>

Public Member Functions
	TaskInterface (TaskConfig _cfg, ScenePtr _scene, RobotModelPtr _robot_model, RTT::TaskContext *_task_context)
	~TaskInterface ()
void	update ()
void	writeTaskStatus (const TaskStatus &status)

Public Attributes
TaskConfig	cfg
RobotModelPtr	robot_model
ScenePtr	scene
base::samples::RigidBodyStateSE3	task_cart_state
base::samples::Joints	task_jnt_state
CartRefPortPtr	cart_ref_port
JntRefPortPtr	jnt_ref_port
CartStatusPortPtr	cart_state_out_port
JntStatusPortPtr	jnt_state_out_port
WeightInPortPtr	weight_port
ActivationPortPtr	activation_port
TaskStatusPortPtr	task_status_port
base::samples::RigidBodyStateSE3	cart_ref
base::samples::Joints	jnt_ref
base::VectorXd	weights
double	activation
RTT::TaskContext *	task_context

Detailed Description

The TaskInterface class contains I/O ports for each task.

Constructor & Destructor Documentation

TaskInterface()

wbc::TaskInterface::TaskInterface	(	TaskConfig	_cfg,
		ScenePtr	_scene,
		RobotModelPtr	_robot_model,
		RTT::TaskContext *	_task_context )

~TaskInterface()

wbc::TaskInterface::~TaskInterface

(

)

Member Function Documentation

update()

void wbc::TaskInterface::update

(

)

writeTaskStatus()

void wbc::TaskInterface::writeTaskStatus

(

const TaskStatus &

status

)

Member Data Documentation

activation

double wbc::TaskInterface::activation

Current task weights

activation_port

ActivationPortPtr wbc::TaskInterface::activation_port

cart_ref

base::samples::RigidBodyStateSE3 wbc::TaskInterface::cart_ref

cart_ref_port

CartRefPortPtr wbc::TaskInterface::cart_ref_port

cart_state_out_port

CartStatusPortPtr wbc::TaskInterface::cart_state_out_port

cfg

TaskConfig wbc::TaskInterface::cfg

jnt_ref

base::samples::Joints wbc::TaskInterface::jnt_ref

Cartesian Reference values

jnt_ref_port

JntRefPortPtr wbc::TaskInterface::jnt_ref_port

jnt_state_out_port

JntStatusPortPtr wbc::TaskInterface::jnt_state_out_port

robot_model

RobotModelPtr wbc::TaskInterface::robot_model

scene

ScenePtr wbc::TaskInterface::scene

task_cart_state

base::samples::RigidBodyStateSE3 wbc::TaskInterface::task_cart_state

task_context

RTT::TaskContext* wbc::TaskInterface::task_context

Current task activation

task_jnt_state

base::samples::Joints wbc::TaskInterface::task_jnt_state

task_status_port

TaskStatusPortPtr wbc::TaskInterface::task_status_port

weight_port

WeightInPortPtr wbc::TaskInterface::weight_port

weights

base::VectorXd wbc::TaskInterface::weights

Jnt reference values

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The documentation for this class was generated from the following files:

• tasks/TaskInterface.hpp
• tasks/TaskInterface.cpp