#include <ContactForceTask.hpp>

Inheritance diagram for wbc::ContactForceTask:

Public Member Functions
	ContactForceTask (TaskConfig config, RobotModelPtr robot_model, const std::string &ref_frame)

virtual	~ContactForceTask ()=default

virtual void	update () override
	Compute the cartesian task matrix A.

void	setReference (const types::Wrench &ref)
	Update the Cartesian reference input for this task.

const std::string &	refFrame ()
	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.

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.

Protected Attributes
Eigen::MatrixXd	ref_frame_rotation

const std::string	ref_frame

Protected Attributes inherited from wbc::Task
RobotModelPtr	robot_model

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

Constructor & Destructor Documentation

◆ ContactForceTask()

wbc::ContactForceTask::ContactForceTask	(	TaskConfig	config,
		RobotModelPtr	robot_model,
		const std::string &	ref_frame )

◆ ~ContactForceTask()

virtual wbc::ContactForceTask::~ContactForceTask ( )

virtualdefault

Member Function Documentation

◆ refFrame()

const std::string & wbc::ContactForceTask::refFrame ( )

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 ( const types::Wrench & ref )

Update the Cartesian reference input for this task.

Parameters

ref	Reference input for this task. Only the wrench part is relevant (Must have a valid force and torque!)

◆ update()

void wbc::ContactForceTask::update ( )

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.

Member Data Documentation

◆ ref_frame

const std::string wbc::ContactForceTask::ref_frame

protected

◆ ref_frame_rotation

Eigen::MatrixXd wbc::ContactForceTask::ref_frame_rotation