AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
vehicleNullVelTask.h
1 #ifndef VEHICLENULLVEL_H
2 #define VEHICLENULLVEL_H
3 
4 #include "task.h"
5 
12 class VehicleNullVelTask : public Task
13 {
14 public:
15  VehicleNullVelTask(int dimension, bool eqType, std::string robotName);
16 
17  int updateMatrices(struct Infos* const robInfo);
18 
19 private:
20  int setActivation();
21  int setJacobian(Eigen::Matrix4d wTv_eigen);
22  int setReference();
23 
24 };
25 
26 #endif // VEHICLENULLVEL_H
VehicleNullVelTask::updateMatrices
int updateMatrices(struct Infos *const robInfo)
VehicleNull::updateMatrices overriden of the pure virtual method of Task parent class.
Definition: vehicleNullVelTask.cpp:13
VehicleNullVelTask
The VehicleNullVel class. It is a non reactive task which is needed in manipulation phases where we w...
Definition: vehicleNullVelTask.h:12
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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