wbc::JointAccelerationTask Class Reference

Implementation of a Joint velocity task. More...

#include <JointAccelerationTask.hpp>

Inheritance diagram for wbc::JointAccelerationTask:

Public Member Functions
	JointAccelerationTask (TaskConfig config, uint n_robot_joints)
virtual	~JointAccelerationTask ()=default
virtual void	update (RobotModelPtr robot_model) override
	Compute the joint task matrix A.
virtual void	setReference (const base::commands::Joints &ref)
	Update the Joint reference input for this task.
Public Member Functions inherited from wbc::JointTask
	JointTask (const TaskConfig &_config, uint n_robot_joints)
virtual	~JointTask ()
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 Joint velocity task.

Constructor & Destructor Documentation

JointAccelerationTask()

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

~JointAccelerationTask()

virtual wbc::JointAccelerationTask::~JointAccelerationTask ( )

virtualdefault

Member Function Documentation

setReference()

void wbc::JointAccelerationTask::setReference ( const base::commands::Joints & ref )

virtual

Update the Joint reference input for this task.

Parameters

ref	Joint reference input. Vector size has ot be same number of task variables. Joint Names have to match the task joint names. Each entry has to have a valid acceleration. All other entries will be ignored.

Implements wbc::JointTask.

update()

void wbc::JointAccelerationTask::update ( RobotModelPtr robot_model )

overridevirtual

Compute the joint task matrix A.

Parameters

robot_model

Pointer to the robot model from which get the state and compute the joint task matrix A

Implements wbc::Task.

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

• src/tasks/JointAccelerationTask.hpp
• src/tasks/JointAccelerationTask.cpp