1 #ifndef FORCEINSERTTASK_H 2 #define FORCEINSERTTASK_H 5 #include "../../support/header/conversions.h" 6 #include "../../support/header/formulas.h" 25 int updateMatrices(
struct Infos*
const robInfo);
27 void setActivation(Eigen::Vector3d force, Eigen::Vector3d torque);
28 void setJacobian(Eigen::Matrix<double, 6, TOT_DOF> w_J_robot,
29 Eigen::Vector3d force, Eigen::Vector3d torque);
30 void setReference(Eigen::Vector3d force, Eigen::Vector3d torque);
33 Eigen::Vector3d integralFor;
36 #endif // FORCEINSERTTASK_H ForceInsertTask(int dimension, bool eqType, std::string robotName)
ForceInsertTask::ForceInsertTask.
The ForceInsertTask class to help the inserting phase with force torque sensor this task is to genera...
ABSTRACT class task. Each task is a derived class of this class. It contains all the variable that th...