wbc::CartesianVelocityTask Class Reference

Implementation of a Cartesian velocity task. More...

#include <CartesianVelocityTask.hpp>

Inheritance diagram for wbc::CartesianVelocityTask:

Public Member Functions
	CartesianVelocityTask (TaskConfig config, uint n_robot_joints)
virtual	~CartesianVelocityTask ()=default
virtual void	update (RobotModelPtr robot_model) override
	Compute the cartesian task matrix A.
virtual void	setReference (const base::samples::RigidBodyStateSE3 &ref)
	Update the Cartesian reference input for this task.
Public Member Functions inherited from wbc::CartesianTask
	CartesianTask (const TaskConfig &_config, uint n_robot_joints)
virtual	~CartesianTask ()
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.
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

Implementation of a Cartesian velocity task.

Constructor & Destructor Documentation

CartesianVelocityTask()

wbc::CartesianVelocityTask::CartesianVelocityTask	(	TaskConfig	config,
		uint	n_robot_joints )

~CartesianVelocityTask()

virtual wbc::CartesianVelocityTask::~CartesianVelocityTask ( )

virtualdefault

Member Function Documentation

setReference()

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

virtual

Update the Cartesian reference input for this task.

Parameters

ref	Reference input for this task. Only the velocity part is relevant (Must have a valid linear and angular velocity!)

Implements wbc::CartesianTask.

update()

void wbc::CartesianVelocityTask::update ( RobotModelPtr robot_model )

overridevirtual

Compute the cartesian task matrix A.

Parameters

robot_model

Pointer to the robot model from which get the state and compute the cartesian task matrix A

Implements wbc::Task.

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

• src/tasks/CartesianVelocityTask.hpp
• src/tasks/CartesianVelocityTask.cpp