wbc
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Implementation of a Cartesian acceleration task. More...
#include <SpatialAccelerationTask.hpp>
Public Member Functions | |
SpatialAccelerationTask (TaskConfig config, RobotModelPtr robot_model, const std::string &tip_frame, const std::string &ref_frame) | |
virtual | ~SpatialAccelerationTask ()=default |
virtual void | update () override |
Compute the cartesian task matrix A. | |
void | setReference (const types::SpatialAcceleration &ref) |
Update the Cartesian reference input for this task. | |
const std::string & | tipFrame () |
Returns the tip frame. This is the tip of kinematic chain used by the 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 acceleration will be transformed from this frame to world frame. | |
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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 | rot_mat |
std::string | tip_frame |
std::string | ref_frame |
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RobotModelPtr | robot_model |
Additional Inherited Members | |
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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 |
Implementation of a Cartesian acceleration task.
wbc::SpatialAccelerationTask::SpatialAccelerationTask | ( | TaskConfig | config, |
RobotModelPtr | robot_model, | ||
const std::string & | tip_frame, | ||
const std::string & | ref_frame ) |
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Returns the reference frame. This is the frame in which the task reference is assumed to be given. In this case the given reference acceleration will be transformed from this frame to world frame.
void wbc::SpatialAccelerationTask::setReference | ( | const types::SpatialAcceleration & | ref | ) |
Update the Cartesian reference input for this task.
ref | Reference input for this task. Only the acceleration part is relevant (Must have a valid linear and angular acceleration!) |
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inline |
Returns the tip frame. This is the tip of kinematic chain used by the task.
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overridevirtual |
Compute the cartesian task matrix A.
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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