1#ifndef WBC_TASKS_COMVELOCITYTASK_HPP
2#define WBC_TASKS_COMVELOCITYTASK_HPP
17 virtual void update()
override;
CoMVelocityTask(TaskConfig config, RobotModelPtr robot_model)
Definition CoMVelocityTask.cpp:6
virtual void update() override
Update Task matrices and vectors.
Definition CoMVelocityTask.cpp:11
void setReference(const Eigen::Vector3d &ref)
Update the CoM reference input for this task.
Definition CoMVelocityTask.cpp:18
virtual ~CoMVelocityTask()=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< RobotModel > RobotModelPtr
Definition RobotModel.hpp:315
std::shared_ptr< CoMVelocityTask > CoMVelocityTaskPtr
Definition CoMVelocityTask.hpp:26