AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
vehicleConstrainVelTask.h
1 #ifndef VEHICLECONSTRAINVELTASK_H
2 #define VEHICLECONSTRAINVELTASK_H
3 
4 #include "task.h"
5 #include "../../support/header/conversions.h"
6 
15 class VehicleConstrainVelTask : public Task
16 {
17 public:
18  VehicleConstrainVelTask(int dimension, bool eqType, std::string robotName);
19  int updateMatrices(struct Infos* const robInfo);
20 
21 private:
22  void setActivation();
23  void setJacobian();
24  void setReference(std::vector<double> actualVel);
25 
26 };
27 
28 #endif // VEHICLECONSTRAINVELTASK_H
VehicleConstrainVelTask
The vehicleConstrainVelTask class This task is a non-reactive one used to to constrain the velocities...
Definition: vehicleConstrainVelTask.h:15
VehicleConstrainVelTask::updateMatrices
int updateMatrices(struct Infos *const robInfo)
VehicleConstrainVelTask::updateMatrices overriden of the pure virtual method of Task parent class...
Definition: vehicleConstrainVelTask.cpp:15
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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