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:62
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
void print() const
Definition: CartesianTask.cc:21