wbc
CoMAccelerationTask.hpp
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1#ifndef WBC_TASKS_COMACCELERATIONTASK_HPP
2#define WBC_TASKS_COMACCELERATIONTASK_HPP
3
4#include "../core/Task.hpp"
6
7namespace wbc{
8
13public:
16 virtual ~CoMAccelerationTask() = default;
17
18 virtual void update() override;
19
24 void setReference(const Eigen::Vector3d& ref);
25};
26
27typedef std::shared_ptr<CoMAccelerationTask> CoMAccelerationTaskPtr;
28
29} // namespace wbc
30
31#endif // WBC_TASKS_COM_ACCELERATION_TASK_HPP
CoMAccelerationTask(TaskConfig config, RobotModelPtr robot_model)
Definition CoMAccelerationTask.cpp:5
void setReference(const Eigen::Vector3d &ref)
Update the CoM reference input for this task.
Definition CoMAccelerationTask.cpp:23
virtual void update() override
Update Task matrices and vectors.
Definition CoMAccelerationTask.cpp:10
virtual ~CoMAccelerationTask()=default
Defines a task in the whole body control problem.
Definition TaskConfig.hpp:24
Task()
Default constructor.
Definition Task.cpp:5
RobotModelPtr robot_model
Definition Task.hpp:16
TaskConfig config
Definition Task.hpp:53
Definition ContactsAccelerationConstraint.cpp:3
std::shared_ptr< CoMAccelerationTask > CoMAccelerationTaskPtr
Definition CoMAccelerationTask.hpp:27
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:315