Implementation of a Cartesian velocity task. More...

#include <SpatialVelocityTask.hpp>

Inheritance diagram for wbc::SpatialVelocityTask:

Public Member Functions
	SpatialVelocityTask (TaskConfig config, RobotModelPtr robot_model, const std::string &tip_frame)

virtual	~SpatialVelocityTask ()=default

virtual void	update () override
	Compute the cartesian task matrix A.

void	setReference (const types::Twist &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.

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
Eigen::MatrixXd	rot_mat

std::string	tip_frame

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	weights

double	activation

Eigen::MatrixXd	A

Eigen::MatrixXd	Aw

uint	nv

uint	nj

TaskType	type

Detailed Description

Implementation of a Cartesian velocity task.

Constructor & Destructor Documentation

◆ SpatialVelocityTask()

wbc::SpatialVelocityTask::SpatialVelocityTask	(	TaskConfig	config,
		RobotModelPtr	robot_model,
		const std::string &	tip_frame )

◆ ~SpatialVelocityTask()

virtual wbc::SpatialVelocityTask::~SpatialVelocityTask ( )

virtualdefault

Member Function Documentation

◆ setReference()

void wbc::SpatialVelocityTask::setReference ( const types::Twist & ref )

Update the Cartesian reference input for this task.

Parameters

ref	Reference input for this task. Only the velocity part is relevant (Must have a valid linear and angular velocity!)

◆ tipFrame()

const std::string & wbc::SpatialVelocityTask::tipFrame ( )

inline

Returns the tip frame. This is the tip of kinematic chain used by the task.

◆ update()

void wbc::SpatialVelocityTask::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.

Member Data Documentation

◆ rot_mat

Eigen::MatrixXd wbc::SpatialVelocityTask::rot_mat

protected

◆ tip_frame

std::string wbc::SpatialVelocityTask::tip_frame