ORCA: Optimization-based framework for Robotic Control Applications
JointTorqueTask.h
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1 //| This file is a part of the ORCA framework.
2 //|
3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
5 //|
6 //| Main contributor(s): Antoine Hoarau, Ryan Lober, and
7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
8 //|
9 //| ORCA is a whole-body reactive controller framework for robotics.
10 //|
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36 
37 #pragma once
38 
39 #include "orca/task/GenericTask.h"
41 
42 namespace orca
43 {
44 namespace task
45 {
46 
48 {
49 public:
50  JointTorqueTask(const std::string& name);
51 
52  void setDesired(const Eigen::VectorXd& jnt_trq_des);
53 
54  void setCurrent(const Eigen::VectorXd& jointTorque);
55 
57 
58  void setFeedforward(const Eigen::VectorXd& ff);
59  const Eigen::VectorXd& getFeedforward() const;
60 
61 protected:
62  virtual void onUpdateAffineFunction(double current_time, double dt);
63  virtual void onResize();
64  virtual void onActivation();
65 private:
67  common::Parameter<common::PIDController::Ptr> pid_ = std::make_shared<common::PIDController>("pid");
68 private:
69  bool desired_set_ = false;
70  Eigen::VectorXd jnt_trq_des_,current_jnt_trq_;
71 };
72 
73 }
74 }
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