48 using Ptr = std::shared_ptr<CartesianServoController>;
Definition: CartesianServoController.h:45
void setBaseFrame(const std::string &base_ref_frame)
Definition: CartesianServoController.cc:16
virtual const math::Vector6d & getCommand() const =0
void setControlFrame(const std::string &control_frame)
Definition: CartesianServoController.cc:22
const std::string & getBaseFrame() const
Definition: CartesianServoController.cc:28
Eigen::Matrix< double, 6, 1 > Vector6d
Definition: Utils.h:62
Definition: CartesianAccelerationPID.h:44
CartesianServoController(const std::string &name)
Definition: CartesianServoController.cc:9
std::shared_ptr< CartesianServoController > Ptr
Definition: CartesianServoController.h:48
The common base class for tasks and constraints.
Definition: TaskBase.h:59
const std::string & getControlFrame() const
Definition: CartesianServoController.cc:33