wbc/ContactWrenchTask_8hpp_source.html

#ifndef WBC_TASKS_CONTACTWRENCHTASK_HPP

#define WBC_TASKS_CONTACTWRENCHTASK_HPP


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


namespace wbc{


class ContactWrenchTask : public Task{

public:

    ContactWrenchTask(TaskConfig config,

                      RobotModelPtr robot_model);

    virtual ~ContactWrenchTask() = default;


    virtual void update() override;


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

};


typedef std::shared_ptr<ContactWrenchTask> ContactWrenchTaskPtr;


}


#endif // CARTESIANWRENCHTASK_HPP

Task.hpp

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

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

wbc::ContactWrenchTask::setReference
void setReference(const types::Wrench &ref)
Update the Cartesian reference input for this task.
Definition ContactWrenchTask.cpp:21

wbc::ContactWrenchTask::update
virtual void update() override
Compute the cartesian task matrix A.
Definition ContactWrenchTask.cpp:13

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:53

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

wbc
Definition ContactsAccelerationConstraint.cpp:3

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

wbc::ContactWrenchTaskPtr
std::shared_ptr< ContactWrenchTask > ContactWrenchTaskPtr
Definition ContactWrenchTask.hpp:27