Implementation of a Joint velocity task. More...

#include <JointVelocityTask.hpp>

Inheritance diagram for wbc::JointVelocityTask:

Public Member Functions
	JointVelocityTask (TaskConfig config, RobotModelPtr robot_model, const std::vector< std::string > &joint_names)

virtual	~JointVelocityTask ()=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.

Protected Attributes
std::vector< std::string >	joint_names

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

Detailed Description

Implementation of a Joint velocity task.

Constructor & Destructor Documentation

◆ JointVelocityTask()

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

◆ ~JointVelocityTask()

virtual wbc::JointVelocityTask::~JointVelocityTask ( )

virtualdefault

Member Function Documentation

◆ jointNames()

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

inline

Returns the vector of joint names used by the task.

◆ setReference()

void wbc::JointVelocityTask::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 velocity. All other entries will be ignored.

◆ update()

void wbc::JointVelocityTask::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.

Member Data Documentation

◆ joint_names

std::vector<std::string> wbc::JointVelocityTask::joint_names

protected

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

src/tasks/JointVelocityTask.hpp
src/tasks/JointVelocityTask.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members