wbc
JointVelocityTask.hpp
Go to the documentation of this file.
1#ifndef WBC_TASKS_JOINTVELOCITYTASK_HPP
2#define WBC_TASKS_JOINTVELOCITYTASK_HPP
3
4#include "../core/Task.hpp"
5
6namespace wbc{
10class JointVelocityTask : public Task{
11protected:
12 std::vector<std::string> joint_names;
13public:
16 const std::vector<std::string>& joint_names);
17 virtual ~JointVelocityTask() = default;
18
23 virtual void update() override;
24
30 void setReference(const Eigen::VectorXd& ref);
31
33 const std::vector<std::string>& jointNames(){return joint_names;}
34};
35
36typedef std::shared_ptr<JointVelocityTask> JointVelocityTaskPtr;
37
38} // namespace wbc
39
40#endif
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