Classes
class	CartesianStateToRbsTask
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. More...

class	LoopBackDriver
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. More...

class	RbsToCartesianStateTask
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. More...

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

class	WbcTask

Typedefs
typedef std::shared_ptr< RobotModel >	RobotModelPtr

typedef std::shared_ptr< Scene >	ScenePtr

typedef RTT::InputPort< base::samples::RigidBodyStateSE3 >	CartRefPort

typedef RTT::InputPort< base::samples::Joints >	JntRefPort

typedef RTT::InputPort< base::VectorXd >	WeightInPort

typedef RTT::InputPort< double >	ActivationPort

typedef RTT::OutputPort< base::samples::RigidBodyStateSE3 >	CartStatusPort

typedef RTT::OutputPort< base::samples::Joints >	JntStatusPort

typedef RTT::OutputPort< wbc::TaskStatus >	TaskStatusPort

typedef std::shared_ptr< CartRefPort >	CartRefPortPtr

typedef std::shared_ptr< JntRefPort >	JntRefPortPtr

typedef std::shared_ptr< WeightInPort >	WeightInPortPtr

typedef std::shared_ptr< ActivationPort >	ActivationPortPtr

typedef std::shared_ptr< CartStatusPort >	CartStatusPortPtr

typedef std::shared_ptr< JntStatusPort >	JntStatusPortPtr

typedef std::shared_ptr< TaskStatusPort >	TaskStatusPortPtr

typedef std::shared_ptr< QPSolver >	QPSolverPtr

typedef std::shared_ptr< TaskInterface >	TaskInterfacePtr

typedef std::map< std::string, TaskInterfacePtr >	TaskInterfaceMap

Typedef Documentation

◆ ActivationPort

typedef RTT::InputPort<double> wbc::ActivationPort

◆ ActivationPortPtr

typedef std::shared_ptr<ActivationPort> wbc::ActivationPortPtr

◆ CartRefPort

typedef RTT::InputPort<base::samples::RigidBodyStateSE3> wbc::CartRefPort

◆ CartRefPortPtr

typedef std::shared_ptr<CartRefPort> wbc::CartRefPortPtr

◆ CartStatusPort

typedef RTT::OutputPort<base::samples::RigidBodyStateSE3> wbc::CartStatusPort

◆ CartStatusPortPtr

typedef std::shared_ptr<CartStatusPort> wbc::CartStatusPortPtr

◆ JntRefPort

typedef RTT::InputPort<base::samples::Joints> wbc::JntRefPort

◆ JntRefPortPtr

typedef std::shared_ptr<JntRefPort> wbc::JntRefPortPtr

◆ JntStatusPort

typedef RTT::OutputPort<base::samples::Joints> wbc::JntStatusPort

◆ JntStatusPortPtr

typedef std::shared_ptr<JntStatusPort> wbc::JntStatusPortPtr

◆ QPSolverPtr

typedef std::shared_ptr<QPSolver> wbc::QPSolverPtr

◆ RobotModelPtr

typedef std::shared_ptr< RobotModel > wbc::RobotModelPtr

◆ ScenePtr

typedef std::shared_ptr< Scene > wbc::ScenePtr

◆ TaskInterfaceMap

typedef std::map<std::string, TaskInterfacePtr> wbc::TaskInterfaceMap

◆ TaskInterfacePtr

typedef std::shared_ptr<TaskInterface> wbc::TaskInterfacePtr

◆ TaskStatusPort

typedef RTT::OutputPort<wbc::TaskStatus> wbc::TaskStatusPort

◆ TaskStatusPortPtr

typedef std::shared_ptr<TaskStatusPort> wbc::TaskStatusPortPtr

◆ WeightInPort

typedef RTT::InputPort<base::VectorXd> wbc::WeightInPort

◆ WeightInPortPtr

typedef std::shared_ptr<WeightInPort> wbc::WeightInPortPtr

Classes

Typedefs