wbc/JointVelocityTask_8hpp_source.html

#ifndef JOINTVELOCITYTASK_HPP

#define JOINTVELOCITYTASK_HPP


#include "JointTask.hpp"


namespace wbc{


class JointVelocityTask : public JointTask{

public:

    JointVelocityTask(TaskConfig config, uint n_robot_joints);

    virtual ~JointVelocityTask() = default;


    virtual void update(RobotModelPtr robot_model) override;


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

};


typedef std::shared_ptr<JointVelocityTask> JointVelocityTaskPtr;


} // namespace wbc


#endif

JointTask.hpp

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

wbc::JointVelocityTask
Implementation of a Joint velocity task.
Definition JointVelocityTask.hpp:10

wbc::JointVelocityTask::update
virtual void update(RobotModelPtr robot_model) override
Compute the joint task matrix A.
Definition JointVelocityTask.cpp:11

wbc::JointVelocityTask::JointVelocityTask
JointVelocityTask(TaskConfig config, uint n_robot_joints)
Definition JointVelocityTask.cpp:6

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

wbc::JointVelocityTask::setReference
virtual void setReference(const base::commands::Joints &ref)
Update the Joint reference input for this task.
Definition JointVelocityTask.cpp:24

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

wbc::Task::config
TaskConfig config
Definition Task.hpp:59

wbc
Definition ContactsAccelerationConstraint.cpp:3

wbc::JointVelocityTaskPtr
std::shared_ptr< JointVelocityTask > JointVelocityTaskPtr
Definition JointVelocityTask.hpp:29

wbc::RobotModelPtr
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:204