wbc
wbc::CoMVelocityTask Class Reference

Implementation of a CoM velocity task. More...

#include <CoMVelocityTask.hpp>

Inheritance diagram for wbc::CoMVelocityTask:
wbc::CartesianTask wbc::Task

Public Member Functions

 CoMVelocityTask (TaskConfig config, uint n_robot_joints)
 
virtual ~CoMVelocityTask ()=default
 
virtual void update (RobotModelPtr robot_model) override
 Update Task matrices and vectors.
 
virtual void setReference (const base::samples::RigidBodyStateSE3 &ref)
 Update the CoM 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 CoM velocity task.

Constructor & Destructor Documentation

◆ CoMVelocityTask()

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

◆ ~CoMVelocityTask()

virtual wbc::CoMVelocityTask::~CoMVelocityTask ( )
virtualdefault

Member Function Documentation

◆ setReference()

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

Update the CoM reference input for this task.

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

Implements wbc::CartesianTask.

◆ update()

void wbc::CoMVelocityTask::update ( RobotModelPtr robot_model)
overridevirtual

Update Task matrices and vectors.

Implements wbc::Task.


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