virtual void onResize()
Definition: WrenchTask.cc:80
void setFeedforward(const math::Vector6d &feedforward_wrench)
Definition: WrenchTask.cc:48
const std::string & getBaseFrame() const
Definition: WrenchTask.cc:38
virtual void onUpdateAffineFunction(double current_time, double dt)
Definition: WrenchTask.cc:75
Definition: GenericTask.h:50
const math::Vector6d & getFeedforward() const
Definition: WrenchTask.cc:53
virtual void onActivation()
Definition: WrenchTask.cc:67
void setControlFrame(const std::string &control_frame)
Definition: WrenchTask.cc:33
void setCurrentWrenchValue(const math::Vector6d ¤t_wrench_from_ft_sensor)
Definition: WrenchTask.cc:58
WrenchTask(const std::string &name)
Definition: WrenchTask.cc:9
Eigen::Matrix< double, 6, 1 > Vector6d
Definition: Utils.h:62
Definition: CartesianAccelerationPID.h:44
void setDesiredWrench(const math::Vector6d &wrench_at_control_frame)
void setBaseFrame(const std::string &base_ref_frame)
Definition: WrenchTask.cc:28
common::PIDController::Ptr pid()
Definition: WrenchTask.cc:63
Definition: WrenchTask.h:48
const std::string & getControlFrame() const
Definition: WrenchTask.cc:43
std::shared_ptr< PIDController > Ptr
Definition: PIDController.h:51