cart_pos_ctrl_hls_hierarchies.cpp File Reference

#include <robot_models/pinocchio/RobotModelPinocchio.hpp>
#include <core/RobotModelConfig.hpp>
#include <scenes/velocity/VelocityScene.hpp>
#include <solvers/hls/HierarchicalLSSolver.hpp>
#include <controllers/CartesianPosPDController.hpp>
#include <controllers/JointPosPDController.hpp>
#include <unistd.h>

Functions
int	main (int argc, char **argv)

Function Documentation

main()

int main	(	int	argc,
		char **	argv )

Velocity-based example for a simple task hierarchy: Cartesian position control of the end effector on the highest priority and joint position control of the elbow joint on the lower priority.