wbc
TaskConfig.hpp
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1#ifndef WBC_CORE_TASK_CONFIG_HPP
2#define WBC_CORE_TASK_CONFIG_HPP
3
4#include <string>
5#include <vector>
6#include <stdexcept>
7
8namespace wbc{
9
20
25
26public:
29 TaskConfig(const std::string &name,
30 const int priority,
31 const std::vector<double> weights,
32 const double activation);
34
36 std::string name;
37
40
46 std::vector<double> weights;
47
50 double activation;
51
53 bool isValid() const;
54};
55
56}
57
58#endif // WBC_CORE_TASK_CONFIG_HPP
std::string name
Definition TaskConfig.hpp:36
std::vector< double > weights
Definition TaskConfig.hpp:46
bool isValid() const
Definition TaskConfig.cpp:19
~TaskConfig()
Definition TaskConfig.cpp:16
TaskConfig()
Definition TaskConfig.hpp:27
int priority
Definition TaskConfig.hpp:39
double activation
Definition TaskConfig.hpp:50
Definition ContactsAccelerationConstraint.cpp:3
TaskType
Definition TaskConfig.hpp:10
@ com_velocity
Definition TaskConfig.hpp:14
@ contact_force
Definition TaskConfig.hpp:18
@ joint_velocity
Definition TaskConfig.hpp:16
@ spatial_acceleration
Definition TaskConfig.hpp:13
@ joint_acceleration
Definition TaskConfig.hpp:17
@ com_acceleration
Definition TaskConfig.hpp:15
@ spatial_velocity
Definition TaskConfig.hpp:12
@ unset
Definition TaskConfig.hpp:11