ORCA: Optimization-based framework for Robotic Control Applications
JointAccelerationTask.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 
40 #include "orca/task/GenericTask.h"
41 
42 namespace orca
43 {
44 namespace task
45 {
46 
48 {
49 public:
50  JointAccelerationTask(const std::string& name);
51 
52  void setDesired(const Eigen::VectorXd& jnt_pos_des
53  , const Eigen::VectorXd& jnt_vel_des
54  , const Eigen::VectorXd& jnt_acc_des);
55 
57 protected:
58  virtual void onUpdateAffineFunction(double current_time, double dt);
59  virtual void onResize();
60  virtual void onActivation();
61 private:
65  common::Parameter<common::PIDController::Ptr> pid_ = std::make_shared<common::PIDController>("pid");
66 };
67 
68 } // namespace task
69 } // namespace orca
virtual void onResize()
Definition: JointAccelerationTask.cc:50
Definition: JointAccelerationTask.h:47
virtual void onActivation()
Definition: JointAccelerationTask.cc:31
Definition: GenericTask.h:50
common::PIDController::Ptr pid()
Definition: JointAccelerationTask.cc:27
virtual void onUpdateAffineFunction(double current_time, double dt)
Definition: JointAccelerationTask.cc:42
JointAccelerationTask(const std::string &name)
Definition: JointAccelerationTask.cc:9
Definition: CartesianAccelerationPID.h:44
void setDesired(const Eigen::VectorXd &jnt_pos_des, const Eigen::VectorXd &jnt_vel_des, const Eigen::VectorXd &jnt_acc_des)
Definition: JointAccelerationTask.cc:18
std::shared_ptr< PIDController > Ptr
Definition: PIDController.h:51