# C++ library for Task Control of Unmanned Aerial Manipulators (UAM)
# C++ library for Task Control of Unmanned Aerial Manipulators (UAM)
This library provides the robot kinematics as well as a framework to compute several task errors and Jacobians.
This library provides the robot kinematics as well as a framework to compute several task errors and Jacobians. The differences from the original [repository](https://gitlab.iri.upc.edu/asantamaria/uam_task_ctrl) is that this one contains some tasks to specifically worj with the [kinton_arm_lmi_lexicographic_task_opt](https://gitlab.iri.upc.edu/jmarti/kinton_arm_lmi_lexicographic_task_opt) ROS node.