#include <ContactForceTask.hpp>
◆ ContactForceTask()
wbc::ContactForceTask::ContactForceTask |
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TaskConfig | config, |
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RobotModelPtr | robot_model, |
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const std::string & | ref_frame ) |
◆ ~ContactForceTask()
virtual wbc::ContactForceTask::~ContactForceTask |
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virtualdefault |
◆ refFrame()
const std::string & wbc::ContactForceTask::refFrame |
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inline |
Returns the reference frame. This is the frame in which the task reference is assumed to be given. In this case the given reference wrench will be transformed from this frame to world frame.
◆ setReference()
void wbc::ContactForceTask::setReference |
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const types::Wrench & | ref | ) |
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Update the Cartesian reference input for this task.
- Parameters
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ref | Reference input for this task. Only the wrench part is relevant (Must have a valid force and torque!) |
◆ update()
void wbc::ContactForceTask::update |
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Compute the cartesian task matrix A.
- Parameters
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robot_model | Pointer to the robot model from which get the state and compute the cartesian task matrix A |
Implements wbc::Task.
◆ ref_frame
const std::string wbc::ContactForceTask::ref_frame |
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protected |
◆ ref_frame_rotation
Eigen::MatrixXd wbc::ContactForceTask::ref_frame_rotation |
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The documentation for this class was generated from the following files: