wbc
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Implementation of a CoM velocity task. More...
#include <CoMVelocityTask.hpp>
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 |
Implementation of a CoM velocity task.
wbc::CoMVelocityTask::CoMVelocityTask | ( | TaskConfig | config, |
uint | n_robot_joints ) |
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virtualdefault |
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virtual |
Update the CoM reference input for this task.
ref | Reference input for this task. Only the velocity part is relevant (Must have a valid linear and angular velocity!) |
Implements wbc::CartesianTask.
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overridevirtual |