BipedalLocomotion::System::ITaskControllerManager struct
#include <BipedalLocomotion/System/ITaskControllerManager.h>

ITaskControllerManager is an interface that can help you to handle tasks containing controllers.

Please inherit it you want to disable or enable controllers embedded in a LinearTask

Derived classes

class BipedalLocomotion::IK::R3Task
R3Task is a concrete implementation of the Task.
class BipedalLocomotion::IK::SE3Task
SE3Task is a concrete implementation of the Task.
class BipedalLocomotion::TSID::R3Task
SE3Task is a concrete implementation of the OptimalControlElement.
class BipedalLocomotion::TSID::SE3Task
SE3Task is a concrete implementation of the OptimalControlElement.

Public types

enum class Mode { Enable, Disable }
Mode representing the status of the task controller.

Constructors, destructors, conversion operators

~ITaskControllerManager() defaulted virtual
Destructor.

Public functions

void setTaskControllerMode(Mode mode) pure virtual
Set the task control mode.
auto getTaskControllerMode() const -> Mode pure virtual
Get the task control mode.

Function documentation

Mode BipedalLocomotion::System::ITaskControllerManager::getTaskControllerMode() const pure virtual

Get the task control mode.

Returns the state of the controller