27 double stiffness = 2.0,
28 double weight = 500.0,
29 bool showTarget =
true,
30 bool showPose =
true);
49 unsigned int robotIndex,
50 double stiffness = 2.0,
52 bool showTarget =
true,
53 bool showPose =
true);
65 virtual sva::PTransformd
target()
const;
72 virtual void target(
const sva::PTransformd & worldPos);
78 virtual void targetVel(
const sva::MotionVecd & worldVel);
92 const std::string & surfaceName,
93 const sva::PTransformd & offset = sva::PTransformd::Identity());
116 const sva::PTransformd & offset = sva::PTransformd::Identity());
130 inline const std::string &
surface() const noexcept {
return frame_->name(); }
136 inline sva::PTransformd
surfacePose() const noexcept {
return frame_->position(); }
163 void setGains(
const sva::MotionVecd & stiffness,
const sva::MotionVecd & damping)
178 sva::MotionVecd
mvStiffness() {
return sva::MotionVecd(dimStiffness()); }
188 sva::MotionVecd
mvDamping() {
return sva::MotionVecd(dimDamping()); }
219 bool showTarget_ =
true;
220 bool showPose_ =
true;
#define MC_TASKS_DLLAPI
Definition: api.h:50
std::shared_ptr< const RobotFrame > ConstRobotFramePtr
Definition: fwd.h:25
Definition: StabilizerStandingState.h:12
Definition: RobotFrame.h:22
Simplify access to values hold within a JSON file.
Definition: Configuration.h:166
Logs controller data to disk.
Definition: Logger.h:30
Definition: StateBuilder.h:28
Definition: QPSolver.h:86
Generic wrapper for a trajectory dynamic over an error function.
Definition: TrajectoryTaskGeneric.h:27
double damping() const
Get the current task damping.
double stiffness() const
Get the current task stiffness.
const Eigen::VectorXd & refAccel() const
Get the trajectory reference acceleration.
const Eigen::VectorXd & refVel() const
Get the trajectory reference velocity.
void setGains(double stiffness, double damping)
Set both stiffness and damping.