1#ifndef WBC_TASKS_JOINTVELOCITYTASK_HPP
2#define WBC_TASKS_JOINTVELOCITYTASK_HPP
23 virtual void update()
override;
const std::vector< std::string > & jointNames()
Returns the vector of joint names used by the task.
Definition JointVelocityTask.hpp:33
virtual void update() override
Compute the joint task matrix A.
Definition JointVelocityTask.cpp:12
virtual ~JointVelocityTask()=default
std::vector< std::string > joint_names
Definition JointVelocityTask.hpp:12
void setReference(const Eigen::VectorXd &ref)
Update the Joint reference input for this task.
Definition JointVelocityTask.cpp:25
JointVelocityTask(TaskConfig config, RobotModelPtr robot_model, const std::vector< std::string > &joint_names)
Definition JointVelocityTask.cpp:5
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< JointVelocityTask > JointVelocityTaskPtr
Definition JointVelocityTask.hpp:36
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:315