wbc::CoMAccelerationTask Class Reference

Implementation of a CoM velocity task. More...

#include <CoMAccelerationTask.hpp>

Inheritance diagram for wbc::CoMAccelerationTask:

Public Member Functions
	CoMAccelerationTask (TaskConfig config, RobotModelPtr robot_model)
virtual	~CoMAccelerationTask ()=default
virtual void	update () override
	Update Task matrices and vectors.
void	setReference (const Eigen::Vector3d &ref)
	Update the CoM reference input for this task.
Public Member Functions inherited from wbc::Task
	Task ()
	Default constructor.
	Task (TaskConfig config, RobotModelPtr robot_model, uint nv, TaskType type)
	Resizes all members.
	~Task ()
void	reset ()
	Reset task variables to initial values.
void	setWeights (const Eigen::VectorXd &weights)
	Set task weights.
void	setActivation (const double activation)
	Set task activation.

Additional Inherited Members
Public Attributes inherited from wbc::Task
TaskConfig	config
Eigen::VectorXd	y_ref
Eigen::VectorXd	y_ref_world
Eigen::VectorXd	weights
Eigen::VectorXd	weights_world
double	activation
Eigen::MatrixXd	A
Eigen::MatrixXd	Aw
uint	nv
uint	nj
TaskType	type
Protected Attributes inherited from wbc::Task
RobotModelPtr	robot_model

Detailed Description

Implementation of a CoM velocity task.

Constructor & Destructor Documentation

CoMAccelerationTask()

wbc::CoMAccelerationTask::CoMAccelerationTask	(	TaskConfig	config,
		RobotModelPtr	robot_model )

~CoMAccelerationTask()

virtual wbc::CoMAccelerationTask::~CoMAccelerationTask ( )

virtualdefault

Member Function Documentation

setReference()

void wbc::CoMAccelerationTask::setReference

(

const Eigen::Vector3d &

ref

)

Update the CoM 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!)

update()

void wbc::CoMAccelerationTask::update ( )

overridevirtual

Update Task matrices and vectors.

Implements wbc::Task.

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

• src/tasks/CoMAccelerationTask.hpp
• src/tasks/CoMAccelerationTask.cpp