wbc
CoMVelocityTask.hpp
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1#ifndef WBC_TASKS_COMVELOCITYTASK_HPP
2#define WBC_TASKS_COMVELOCITYTASK_HPP
3
4#include "../core/Task.hpp"
5
6namespace wbc{
7
11class CoMVelocityTask : public Task{
12public:
15 virtual ~CoMVelocityTask() = default;
16
17 virtual void update() override;
18
23 void setReference(const Eigen::Vector3d& ref);
24};
25
26typedef std::shared_ptr<CoMVelocityTask> CoMVelocityTaskPtr;
27
28} // namespace wbc
29
30#endif
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