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, RobotModelPtr robot_model, const std::vector< std::string > &joint_names)
virtual	~JointAccelerationTask ()=default
virtual void	update () override
	Compute the joint task matrix A.
void	setReference (const Eigen::VectorXd &ref)
	Update the Joint reference input for this task.
const std::vector< std::string > &	jointNames ()
	Returns the vector of joint names used by the 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	y_ref_world
Eigen::VectorXd	weights
Eigen::VectorXd	weights_world
double	activation
Eigen::MatrixXd	A
Eigen::MatrixXd	Aw
uint	nv
uint	nj
TaskType	type
Protected Attributes inherited from wbc::Task
RobotModelPtr	robot_model

Detailed Description

Implementation of a Joint velocity task.

Constructor & Destructor Documentation

JointAccelerationTask()

wbc::JointAccelerationTask::JointAccelerationTask	(	TaskConfig	config,
		RobotModelPtr	robot_model,
		const std::vector< std::string > &	joint_names )

~JointAccelerationTask()

virtual wbc::JointAccelerationTask::~JointAccelerationTask ( )

virtualdefault

Member Function Documentation

jointNames()

const std::vector< std::string > & wbc::JointAccelerationTask::jointNames ( )

inline

Returns the vector of joint names used by the task.

setReference()

void wbc::JointAccelerationTask::setReference

(

const Eigen::VectorXd &

ref

)

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.

update()

void wbc::JointAccelerationTask::update ( )

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