RosGenericTaskProxy.h
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1 //| This file is a part of the ORCA framework.
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3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
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6 //| Main contributor(s): Antoine Hoarau, Ryan Lober, and
7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
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9 //| ORCA is a whole-body reactive controller framework for robotics.
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36 
37 #pragma once
38 
39 #include <orca/math/Utils.h>
41 namespace orca_ros
42 {
43 
44 namespace task
45 {
47  {
48  public:
49  RosGenericTaskProxy( const std::string& robot_name,
50  const std::string& controller_name,
51  const std::string& task_name);
52  virtual ~RosGenericTaskProxy();
53 
54  public:
55  double getWeight();
56  void setWeight(double weight);
57  orca::math::Size getSize();
58  int cols();
59  int rows();
60  Eigen::MatrixXd getE();
61  Eigen::VectorXd getf();
62  virtual void print();
63  // Slightly different because we cannot return non-const references
64  void setE(const Eigen::MatrixXd& E);
65  void setf(const Eigen::VectorXd& f);
66 
67  private:
68  ros::ServiceClient sc_getWeight_;
69  ros::ServiceClient sc_setWeight_;
70  ros::ServiceClient sc_getSize_;
71  ros::ServiceClient sc_cols_;
72  ros::ServiceClient sc_rows_;
73  ros::ServiceClient sc_getE_;
74  ros::ServiceClient sc_getf_;
75  ros::ServiceClient sc_print_;
76  ros::ServiceClient sc_setE_;
77  ros::ServiceClient sc_setf_;
78  };
79 
80 } // namespace task
81 } // namespace orca_ros
double getWeight()
Definition: RosGenericTaskProxy.cc:27
RosGenericTaskProxy(const std::string &robot_name, const std::string &controller_name, const std::string &task_name)
Definition: RosGenericTaskProxy.cc:5
virtual void print()
Definition: RosGenericTaskProxy.cc:101
void setWeight(double weight)
Definition: RosGenericTaskProxy.cc:37
void setf(const Eigen::VectorXd &f)
Definition: RosGenericTaskProxy.cc:120
Definition: RosCartesianAccelerationPID.h:42
virtual ~RosGenericTaskProxy()
Definition: RosGenericTaskProxy.cc:23
Definition: RosGenericTaskProxy.h:46
int cols()
Definition: RosGenericTaskProxy.cc:57
int rows()
Definition: RosGenericTaskProxy.cc:67
Eigen::MatrixXd getE()
Definition: RosGenericTaskProxy.cc:77
Definition: RosTaskBaseProxy.h:47
Eigen::VectorXd getf()
Definition: RosGenericTaskProxy.cc:89
void setE(const Eigen::MatrixXd &E)
Definition: RosGenericTaskProxy.cc:110
orca::math::Size getSize()
Definition: RosGenericTaskProxy.cc:47