AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
armNullVelTask.h
1 #ifndef ARMNULLVELTASK_H
2 #define ARMNULLVELTASK_H
3 
4 #include "task.h"
5 
11 class ArmNullVelTask : public Task
12 {
13 public:
14  ArmNullVelTask(int dimension, bool eqType, std::string robotName);
15 
16  int updateMatrices(struct Infos* const robInfo);
17 
18 private:
19  int setActivation();
20  int setJacobian();
21  int setReference();
22 
23 };
24 
25 #endif // ARMNULLVELTASK_H
ArmNullVelTask
The ArmNullVelTask class. It is a non reactive task which is needed when vehicle moves, because we want big movements to be made only by vehicle. In such situation, this task should be putted as the highest priority task.
Definition: armNullVelTask.h:11
Infos
Definition: infos.h:117
Task
ABSTRACT class task. Each task is a derived class of this class. It contains all the variable that th...
Definition: task.h:17
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