wbc/CoMAccelerationTask_8hpp_source.html

#ifndef COM_ACCELERATION_TASK_HPP

#define COM_ACCELERATION_TASK_HPP


#include "CartesianTask.hpp"


namespace wbc{


class CoMAccelerationTask : public CartesianTask{

public:

    CoMAccelerationTask(TaskConfig config, uint n_robot_joints);

    virtual ~CoMAccelerationTask() = default;


    virtual void update(RobotModelPtr robot_model) override;


    virtual void setReference(const base::samples::RigidBodyStateSE3& ref);

};


typedef std::shared_ptr<CoMAccelerationTask> CoMAccelerationTaskPtr;


} // namespace wbc


#endif

CartesianTask.hpp

wbc::CartesianTask
Abstract interface for a task in Cartesian space.
Definition CartesianTask.hpp:13

wbc::CoMAccelerationTask
Implementation of a CoM velocity task.
Definition CoMAccelerationTask.hpp:11

wbc::CoMAccelerationTask::CoMAccelerationTask
CoMAccelerationTask(TaskConfig config, uint n_robot_joints)
Definition CoMAccelerationTask.cpp:7

wbc::CoMAccelerationTask::setReference
virtual void setReference(const base::samples::RigidBodyStateSE3 &ref)
Update the CoM reference input for this task.
Definition CoMAccelerationTask.cpp:20

wbc::CoMAccelerationTask::update
virtual void update(RobotModelPtr robot_model) override
Update Task matrices and vectors.
Definition CoMAccelerationTask.cpp:11

wbc::CoMAccelerationTask::~CoMAccelerationTask
virtual ~CoMAccelerationTask()=default

wbc::TaskConfig
Defines a task in the whole body control problem. Valid Configurations are e.g.
Definition TaskConfig.hpp:39

wbc::Task::config
TaskConfig config
Definition Task.hpp:59

wbc
Definition ContactsAccelerationConstraint.cpp:3

wbc::CoMAccelerationTaskPtr
std::shared_ptr< CoMAccelerationTask > CoMAccelerationTaskPtr
Definition CoMAccelerationTask.hpp:25

wbc::RobotModelPtr
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:204