wbc::TaskConfig Class Reference

Defines a task in the whole body control problem. More...

#include <TaskConfig.hpp>

Public Member Functions
	TaskConfig ()
	TaskConfig (const std::string &name, const int priority, const std::vector< double > weights, const double activation)
	~TaskConfig ()
bool	isValid () const

Public Attributes
std::string	name
int	priority
std::vector< double >	weights
double	activation

Detailed Description

Defines a task in the whole body control problem.

Constructor & Destructor Documentation

TaskConfig() [1/2]

wbc::TaskConfig::TaskConfig ( )

inline

TaskConfig() [2/2]

wbc::TaskConfig::TaskConfig	(	const std::string &	name,
		const int	priority,
		const std::vector< double >	weights,
		const double	activation )

Default constructor for Cartesian space tasks

~TaskConfig()

wbc::TaskConfig::~TaskConfig

(

)

Member Function Documentation

isValid()

bool wbc::TaskConfig::isValid

(

)

const

Check for valid entries of the task config

Member Data Documentation

activation

double wbc::TaskConfig::activation

Initial activation for this task. Has to be within 0 and 1. Can be used to enable(1)/disable(0) the whole task, or to apply a smooth activation function. Default is 0.

name

std::string wbc::TaskConfig::name

Unique identifier of the constraint. Must not be empty

priority

int wbc::TaskConfig::priority

Priority of this task. Must be >= 0! 0 corresponds to the highest priority. Currently only one priority level is supported

weights

std::vector<double> wbc::TaskConfig::weights

Initial weights for this task. Size has to be same as number of task variables. Entries have to be >= 0. Can be used to balance contributions of the task variables. A value of 0 means that the reference of the corresponding task variable will be ignored while computing the solution. Vector Size has to be same as number of task variables. e.g. number of joint names in case of joint space task, and 6 in case of a Cartesian task

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

• src/core/TaskConfig.hpp
• src/core/TaskConfig.cpp