1#ifndef WBC_TASKS_CARTESIANACCELERATION_TASK_HPP
2#define WBC_TASKS_CARTESIANACCELERATION_TASK_HPP
28 virtual void update()
override;
std::string tip_frame
Definition SpatialAccelerationTask.hpp:15
void setReference(const types::SpatialAcceleration &ref)
Update the Cartesian reference input for this task.
Definition SpatialAccelerationTask.cpp:43
const std::string & tipFrame()
Returns the tip frame. This is the tip of kinematic chain used by the task.
Definition SpatialAccelerationTask.hpp:37
SpatialAccelerationTask(TaskConfig config, RobotModelPtr robot_model, const std::string &tip_frame, const std::string &ref_frame)
Definition SpatialAccelerationTask.cpp:6
const std::string & refFrame()
Returns the reference frame. This is the frame in which the task reference is assumed to be given....
Definition SpatialAccelerationTask.hpp:41
virtual ~SpatialAccelerationTask()=default
Eigen::MatrixXd rot_mat
Definition SpatialAccelerationTask.hpp:14
virtual void update() override
Compute the cartesian task matrix A.
Definition SpatialAccelerationTask.cpp:13
std::string ref_frame
Definition SpatialAccelerationTask.hpp:16
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 SpatialAcceleration.hpp:8
Definition ContactsAccelerationConstraint.cpp:3
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:315
std::shared_ptr< SpatialAccelerationTask > SpatialAccelerationTaskPtr
Definition SpatialAccelerationTask.hpp:44