wbc/JointTask_8hpp_source.html

#ifndef JOINTTASK_HPP

#define JOINTTASK_HPP


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

#include <base/commands/Joints.hpp>


namespace wbc {


class JointTask : public Task{

public:

    JointTask(const TaskConfig& _config, uint n_robot_joints);

    virtual ~JointTask();


    virtual void setReference(const base::commands::Joints& ref) = 0;


};


} //namespace wbc


#endif

Task.hpp

wbc::JointTask
Abstract interface for a task in joint space.
Definition JointTask.hpp:11

wbc::JointTask::JointTask
JointTask(const TaskConfig &_config, uint n_robot_joints)
Definition JointTask.cpp:5

wbc::JointTask::~JointTask
virtual ~JointTask()
Definition JointTask.cpp:10

wbc::JointTask::setReference
virtual void setReference(const base::commands::Joints &ref)=0
Update the Joint reference input for this task.

wbc::TaskConfig
Defines a task in the whole body control problem. Valid Configurations are e.g.
Definition TaskConfig.hpp:39

wbc::Task
Abstract class to represent a generic task for a WBC optimization problem.
Definition Task.hpp:16

wbc
Definition ContactsAccelerationConstraint.cpp:3