Postural Task API

struct XBot::Cartesian::PosturalTask : public virtual XBot::Cartesian::TaskDescription

Description of a postural (i.e. joint space) task.

Subclassed by XBot::Cartesian::ClientApi::PosturalRos, XBot::Cartesian::PosturalTaskImpl

Public Functions

virtual void getReferencePosture(Eigen::VectorXd &qref) const = 0

getReferencePosture

Parameters

qref –

virtual void getReferenceVelocity(Eigen::VectorXd &qdotref) const = 0

getReferenceVelocity

Parameters

qdotref –

virtual void getReferencePosture(JointNameMap &qref) const = 0

getReferencePosture

Parameters

qref –

virtual void setReferencePosture(const JointNameMap &qref) = 0

setReferencePosture

Parameters

qref –

virtual void setReferencePosture(const Eigen::VectorXd &qref) = 0

setReferencePosture

Parameters

qref –

virtual void setReferenceVelocity(const JointNameMap &qdotref) = 0

setReferenceVelocity

Parameters

qdotref –

virtual void setReferenceVelocity(const Eigen::VectorXd &qdotref) = 0

setReferenceVelocity

Parameters

qdotref –