#include <Tasks/Tasks.h>

Public Member Functions
	GazeTask (const rbd::MultiBody &mb, const std::string &bodyName, const Eigen::Vector2d &point2d, double depthEstimate, const sva::PTransformd &X_b_gaze, const Eigen::Vector2d &point2d_ref=Eigen::Vector2d::Zero())

	GazeTask (const rbd::MultiBody &mb, const std::string &bodyName, const Eigen::Vector3d &point3d, const sva::PTransformd &X_b_gaze, const Eigen::Vector2d &point2d_ref=Eigen::Vector2d::Zero())

	GazeTask (const GazeTask &rhs)

	GazeTask (GazeTask &&)=default

GazeTask &	operator= (const GazeTask &rhs)

GazeTask &	operator= (GazeTask &&)=default

void	error (const Eigen::Vector2d &point2d, const Eigen::Vector2d &point2d_ref=Eigen::Vector2d::Zero())

void	error (const Eigen::Vector3d &point3d, const Eigen::Vector2d &point2d_ref=Eigen::Vector2d::Zero())

void	update (const rbd::MultiBody &mb, const rbd::MultiBodyConfig &mbc, const std::vector< sva::MotionVecd > &normalAccB)

const Eigen::VectorXd &	eval () const

const Eigen::VectorXd &	speed () const

const Eigen::VectorXd &	normalAcc () const

const Eigen::MatrixXd &	jac () const

const Eigen::MatrixXd &	jacDot () const

Constructor & Destructor Documentation

◆ GazeTask() [1/4]

tasks::GazeTask::GazeTask	(	const rbd::MultiBody &	mb,
		const std::string &	bodyName,
		const Eigen::Vector2d &	point2d,
		double	depthEstimate,
		const sva::PTransformd &	X_b_gaze,
		const Eigen::Vector2d &	point2d_ref = `Eigen::Vector2d::Zero()`
	)

◆ GazeTask() [2/4]

tasks::GazeTask::GazeTask	(	const rbd::MultiBody &	mb,
		const std::string &	bodyName,
		const Eigen::Vector3d &	point3d,
		const sva::PTransformd &	X_b_gaze,
		const Eigen::Vector2d &	point2d_ref = `Eigen::Vector2d::Zero()`
	)

◆ GazeTask() [3/4]

tasks::GazeTask::GazeTask ( const GazeTask & rhs )

◆ GazeTask() [4/4]

tasks::GazeTask::GazeTask ( GazeTask && )

default

Member Function Documentation

◆ error() [1/2]

void tasks::GazeTask::error	(	const Eigen::Vector2d &	point2d,
		const Eigen::Vector2d &	point2d_ref = `Eigen::Vector2d::Zero()`
	)

◆ error() [2/2]

void tasks::GazeTask::error	(	const Eigen::Vector3d &	point3d,
		const Eigen::Vector2d &	point2d_ref = `Eigen::Vector2d::Zero()`
	)

◆ eval()

const Eigen::VectorXd& tasks::GazeTask::eval ( ) const

◆ jac()

const Eigen::MatrixXd& tasks::GazeTask::jac ( ) const

◆ jacDot()

const Eigen::MatrixXd& tasks::GazeTask::jacDot ( ) const

◆ normalAcc()

const Eigen::VectorXd& tasks::GazeTask::normalAcc ( ) const

◆ operator=() [1/2]

GazeTask& tasks::GazeTask::operator= ( const GazeTask & rhs )

◆ operator=() [2/2]

GazeTask& tasks::GazeTask::operator= ( GazeTask && )