wbc::SpatialVelocityTask Class Reference

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, const std::string &ref_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.
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 twist will be transformed from this frame to world frame.
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
std::string	ref_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	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 Cartesian velocity task.

Constructor & Destructor Documentation

SpatialVelocityTask()

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

~SpatialVelocityTask()

virtual wbc::SpatialVelocityTask::~SpatialVelocityTask ( )

virtualdefault

Member Function Documentation

refFrame()

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

inline

Returns the reference frame. This is the frame in which the task reference is assumed to be given. In this case the given reference twist will be transformed from this frame to world frame.

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

ref_frame

std::string wbc::SpatialVelocityTask::ref_frame

protected

rot_mat

Eigen::MatrixXd wbc::SpatialVelocityTask::rot_mat

protected

tip_frame

std::string wbc::SpatialVelocityTask::tip_frame

protected

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

• src/tasks/SpatialVelocityTask.hpp
• src/tasks/SpatialVelocityTask.cpp