#include <TaskStatus.hpp>

Public Attributes
base::Time	time

TaskConfig	config

double	activation

int	timeout

base::VectorXd	weights

base::VectorXd	y_ref

base::VectorXd	y_solution

base::VectorXd	y

Member Data Documentation

◆ activation

double wbc::TaskStatus::activation

Task activation. Has to be between 0 and 1. Will be multiplied with the task weights. Can be used to (smoothly) switch on/off the tasks.

◆ config

TaskConfig wbc::TaskStatus::config

Configuration of this task. See TaskConfig.hpp for more details.

◆ time

base::Time wbc::TaskStatus::time

Last time the task reference values was updated.

◆ timeout

int wbc::TaskStatus::timeout

Can be 0 or 1. Will be multiplied with the task weights. If no new reference values arrives for more than config.timeout time, this value will be set to zero.

◆ weights

base::VectorXd wbc::TaskStatus::weights

Task weights in root coordinates.

◆ y

base::VectorXd wbc::TaskStatus::y

Actual task as executed on the robot. For Cartesian tasks, this will be back transformed to Cartesian space and defined in root coordinates.

◆ y_ref

base::VectorXd wbc::TaskStatus::y_ref

Reference input for this task in root coordinates. Can be either joint or a Cartesian space variables.

◆ y_solution

base::VectorXd wbc::TaskStatus::y_solution

Solution as computed by the solver for this task in root coordinates.

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

src/core/TaskStatus.hpp

Public Attributes