ORCA: Optimization-based framework for Robotic Control Applications
CartesianTask.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 
47 using math::Vector6d;
48 
49 class CartesianTask : public GenericTask
50 {
51 public:
52  CartesianTask(const std::string& name);
53  void setDesired(const Vector6d& cartesian_acceleration_des);
54  void setServoController(std::shared_ptr<common::CartesianAccelerationPID> servo);
55  void setBaseFrame(const std::string& base_ref_frame);
56  void setControlFrame(const std::string& control_frame);
57  const std::string& getBaseFrame() const;
58  const std::string& getControlFrame() const;
59  void print() const;
60  std::shared_ptr<common::CartesianServoController> servoController();
61 protected:
62  virtual void onActivation();
63  virtual void onUpdateAffineFunction(double current_time, double dt);
64  virtual void onResize();
65 private:
66  Vector6d cart_acc_bias_;
67 private:
68  common::Parameter<Vector6d> cart_acc_des_;
70 };
71 
72 } // namespace task
73 } // namesapce orca
void print() const
Definition: CartesianTask.cc:21
void setBaseFrame(const std::string &base_ref_frame)
Definition: CartesianTask.cc:44
const std::string & getBaseFrame() const
Definition: CartesianTask.cc:34
Definition: GenericTask.h:50
void setControlFrame(const std::string &control_frame)
Definition: CartesianTask.cc:49
const std::string & getControlFrame() const
Definition: CartesianTask.cc:39
void setDesired(const Vector6d &cartesian_acceleration_des)
Definition: CartesianTask.cc:54
virtual void onUpdateAffineFunction(double current_time, double dt)
Definition: CartesianTask.cc:68
virtual void onActivation()
Definition: CartesianTask.cc:59
CartesianTask(const std::string &name)
Definition: CartesianTask.cc:9
Eigen::Matrix< double, 6, 1 > Vector6d
Definition: Utils.h:65
Definition: CartesianTask.h:49
Definition: CartesianAccelerationPID.h:44
virtual void onResize()
Definition: CartesianTask.cc:90
void setServoController(std::shared_ptr< common::CartesianAccelerationPID > servo)
Definition: CartesianTask.cc:28
std::shared_ptr< common::CartesianServoController > servoController()
Definition: CartesianTask.cc:16