wbc/ContactForceTask_8hpp_source.html

#ifndef WBC_TASKS_CONTACTFORCETASK_HPP

#define WBC_TASKS_CONTACTFORCETASK_HPP


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


namespace wbc{


class ContactForceTask : public Task{

public:

    ContactForceTask(TaskConfig config,

                      RobotModelPtr robot_model);

    virtual ~ContactForceTask() = default;


    virtual void update() override;


    void setReference(const types::Wrench& ref);

};


typedef std::shared_ptr<ContactForceTask> ContactForceTaskPtr;


}


#endif // CARTESIANWRENCHTASK_HPP

Task.hpp

wbc::ContactForceTask::update
virtual void update() override
Compute the cartesian task matrix A.
Definition ContactForceTask.cpp:12

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

wbc::ContactForceTask::ContactForceTask
ContactForceTask(TaskConfig config, RobotModelPtr robot_model)
Definition ContactForceTask.cpp:7

wbc::ContactForceTask::setReference
void setReference(const types::Wrench &ref)
Update the Cartesian reference input for this task.
Definition ContactForceTask.cpp:20

wbc::TaskConfig
Defines a task in the whole body control problem.
Definition TaskConfig.hpp:25

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:52

wbc::types::Wrench
Definition Wrench.hpp:8

wbc
Definition ContactsAccelerationConstraint.cpp:3

wbc::ContactForceTaskPtr
std::shared_ptr< ContactForceTask > ContactForceTaskPtr
Definition ContactForceTask.hpp:26

wbc::RobotModelPtr
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:318