52 void setDesired(
const Eigen::VectorXd& jnt_trq_des);
54 void setCurrent(
const Eigen::VectorXd& jointTorque);
69 bool desired_set_ =
false;
70 Eigen::VectorXd jnt_trq_des_,current_jnt_trq_;
const Eigen::VectorXd & getFeedforward() const
Definition: JointTorqueTask.cc:60
common::PIDController::Ptr pid()
Definition: JointTorqueTask.cc:51
Definition: GenericTask.h:50
virtual void onActivation()
Definition: JointTorqueTask.cc:26
virtual void onResize()
Definition: JointTorqueTask.cc:65
void setDesired(const Eigen::VectorXd &jnt_trq_des)
Definition: JointTorqueTask.cc:19
void setCurrent(const Eigen::VectorXd &jointTorque)
Definition: JointTorqueTask.cc:45
virtual void onUpdateAffineFunction(double current_time, double dt)
Definition: JointTorqueTask.cc:34
Definition: CartesianAccelerationPID.h:44
JointTorqueTask(const std::string &name)
Definition: JointTorqueTask.cc:12
void setFeedforward(const Eigen::VectorXd &ff)
Definition: JointTorqueTask.cc:56
Definition: JointTorqueTask.h:47
std::shared_ptr< PIDController > Ptr
Definition: PIDController.h:51