wbc_py::VelocityScene Class Reference

#include <velocity_scene.hpp>

Inheritance diagram for wbc_py::VelocityScene:

Public Member Functions
	VelocityScene (std::shared_ptr< RobotModelRBDL > robot_model, std::shared_ptr< HierarchicalLSSolver > solver, const double dt)
void	setJointReference (const std::string &task_name, const base::NamedVector< base::JointState > &ref)
void	setCartReference (const std::string &task_name, const base::samples::RigidBodyStateSE3 &ref)
void	setJointWeights (const base::NamedVector< double > &weights)
base::NamedVector< double >	getJointWeights2 ()
base::NamedVector< double >	getActuatedJointWeights2 ()
base::NamedVector< base::JointState >	solve2 (const wbc::HierarchicalQP &hqp)
base::NamedVector< wbc::TaskStatus >	updateTasksStatus2 ()

Constructor & Destructor Documentation

VelocityScene()

wbc_py::VelocityScene::VelocityScene	(	std::shared_ptr< RobotModelRBDL >	robot_model,
		std::shared_ptr< HierarchicalLSSolver >	solver,
		const double	dt )

Member Function Documentation

getActuatedJointWeights2()

base::NamedVector< double > wbc_py::VelocityScene::getActuatedJointWeights2

(

)

getJointWeights2()

base::NamedVector< double > wbc_py::VelocityScene::getJointWeights2

(

)

setCartReference()

void wbc_py::VelocityScene::setCartReference	(	const std::string &	task_name,
		const base::samples::RigidBodyStateSE3 &	ref )

setJointReference()

void wbc_py::VelocityScene::setJointReference	(	const std::string &	task_name,
		const base::NamedVector< base::JointState > &	ref )

setJointWeights()

void wbc_py::VelocityScene::setJointWeights

(

const base::NamedVector< double > &

weights

)

solve2()

base::NamedVector< base::JointState > wbc_py::VelocityScene::solve2

(

const wbc::HierarchicalQP &

hqp

)

updateTasksStatus2()

base::NamedVector< wbc::TaskStatus > wbc_py::VelocityScene::updateTasksStatus2

(

)

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

• src/scenes/velocity/velocity_scene.hpp
• src/scenes/velocity/velocity_scene.cpp