wbc::CartesianTask Class Reference

Abstract interface for a task in Cartesian space. More...

#include <CartesianTask.hpp>

Inheritance diagram for wbc::CartesianTask:

Public Member Functions
	CartesianTask (const TaskConfig &_config, uint n_robot_joints)
virtual	~CartesianTask ()
virtual void	setReference (const base::samples::RigidBodyStateSE3 &ref)=0
	Update the Cartesian reference input for this task.
Public Member Functions inherited from wbc::Task
	Task ()
	Default constructor.
	Task (const TaskConfig &_config, uint n_robot_joints)
	Resizes all members.
	~Task ()
void	reset ()
	Reset task variables to initial values.
virtual void	update (RobotModelPtr robot_model)=0
	Update Task matrices and vectors.
void	checkTimeout ()
	Check if the task is in timeout and set the timeout flag accordingly. A task is in timeout if.
void	setWeights (const base::VectorXd &weights)
	Set task weights.
void	setActivation (const double activation)
	Set task activation.

Additional Inherited Members
Public Attributes inherited from wbc::Task
base::Time	time
TaskConfig	config
base::VectorXd	y_ref
base::VectorXd	y_ref_root
base::VectorXd	weights
base::VectorXd	weights_root
double	activation
int	timeout
base::MatrixXd	A
base::MatrixXd	Aw

Detailed Description

Abstract interface for a task in Cartesian space.

Constructor & Destructor Documentation

CartesianTask()

wbc::CartesianTask::CartesianTask	(	const TaskConfig &	_config,
		uint	n_robot_joints )

~CartesianTask()

wbc::CartesianTask::~CartesianTask ( )

virtual

Member Function Documentation

setReference()

virtual void wbc::CartesianTask::setReference ( const base::samples::RigidBodyStateSE3 & ref )

pure virtual

Update the Cartesian reference input for this task.

Implemented in wbc::CartesianAccelerationTask, wbc::CartesianVelocityTask, wbc::CoMAccelerationTask, and wbc::CoMVelocityTask.

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The documentation for this class was generated from the following files:

• src/tasks/CartesianTask.hpp
• src/tasks/CartesianTask.cpp