wbc/CoMVelocityTask_8hpp_source.html

#ifndef COM_VELOCITY_TASK_HPP

#define COM_VELOCITY_TASK_HPP


#include "CartesianTask.hpp"


namespace wbc{


class CoMVelocityTask : public CartesianTask{

public:

    CoMVelocityTask(TaskConfig config, uint n_robot_joints);

    virtual ~CoMVelocityTask() = default;


    virtual void update(RobotModelPtr robot_model) override;


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

};


typedef std::shared_ptr<CoMVelocityTask> CoMVelocityTaskPtr;


} // namespace wbc


#endif

CartesianTask.hpp

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

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

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

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

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

wbc::CoMVelocityTask::setReference
virtual void setReference(const base::samples::RigidBodyStateSE3 &ref)
Update the CoM reference input for this task.
Definition CoMVelocityTask.cpp:18

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

wbc::CoMVelocityTaskPtr
std::shared_ptr< CoMVelocityTask > CoMVelocityTaskPtr
Definition CoMVelocityTask.hpp:25