wbc/CoMVelocityTask_8hpp_source.html

#ifndef WBC_TASKS_COMVELOCITYTASK_HPP

#define WBC_TASKS_COMVELOCITYTASK_HPP


#include "../core/Task.hpp"


namespace wbc{


class CoMVelocityTask : public Task{

public:

    CoMVelocityTask(TaskConfig config,

                    RobotModelPtr robot_model);

    virtual ~CoMVelocityTask() = default;


    virtual void update() override;


    void setReference(const Eigen::Vector3d& ref);

};


typedef std::shared_ptr<CoMVelocityTask> CoMVelocityTaskPtr;


} // namespace wbc


#endif

Task.hpp

wbc::CoMVelocityTask::CoMVelocityTask
CoMVelocityTask(TaskConfig config, RobotModelPtr robot_model)
Definition CoMVelocityTask.cpp:6

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

wbc::CoMVelocityTask::setReference
void setReference(const Eigen::Vector3d &ref)
Update the CoM reference input for this task.
Definition CoMVelocityTask.cpp:18

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

wbc::TaskConfig
Defines a task in the whole body control problem.
Definition TaskConfig.hpp:24

wbc::Task::Task
Task()
Default constructor.
Definition Task.cpp:5

wbc::Task::robot_model
RobotModelPtr robot_model
Definition Task.hpp:16

wbc::Task::config
TaskConfig config
Definition Task.hpp:53

wbc
Definition ContactsAccelerationConstraint.cpp:3

wbc::RobotModelPtr
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:315

wbc::CoMVelocityTaskPtr
std::shared_ptr< CoMVelocityTask > CoMVelocityTaskPtr
Definition CoMVelocityTask.hpp:26