wbc::ContactWrenchTask Class Reference

#include <ContactWrenchTask.hpp>

Inheritance diagram for wbc::ContactWrenchTask:

Public Member Functions
	ContactWrenchTask (TaskConfig config, RobotModelPtr robot_model)
virtual	~ContactWrenchTask ()=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.
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	weights
double	activation
Eigen::MatrixXd	A
Eigen::MatrixXd	Aw
uint	nv
uint	nj
TaskType	type
Protected Attributes inherited from wbc::Task
RobotModelPtr	robot_model

Constructor & Destructor Documentation

ContactWrenchTask()

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

~ContactWrenchTask()

virtual wbc::ContactWrenchTask::~ContactWrenchTask ( )

virtualdefault

Member Function Documentation

setReference()

void wbc::ContactWrenchTask::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::ContactWrenchTask::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.

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

• src/tasks/ContactWrenchTask.hpp
• src/tasks/ContactWrenchTask.cpp