tasks::MomentumTask Class Reference

#include <Tasks/Tasks.h>

Public Member Functions
	MomentumTask (const rbd::MultiBody &mb, const sva::ForceVecd mom)
void	momentum (const sva::ForceVecd &mom)
const sva::ForceVecd	momentum () const
void	update (const rbd::MultiBody &mb, const rbd::MultiBodyConfig &mbc)
void	update (const rbd::MultiBody &mb, const rbd::MultiBodyConfig &mbc, const std::vector< sva::MotionVecd > &normalAccB)
void	updateDot (const rbd::MultiBody &mb, const rbd::MultiBodyConfig &mbc)
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

MomentumTask()

tasks::MomentumTask::MomentumTask	(	const rbd::MultiBody &	mb,
		const sva::ForceVecd	mom
	)

Member Function Documentation

eval()

const Eigen::VectorXd& tasks::MomentumTask::eval

(

)

const

jac()

const Eigen::MatrixXd& tasks::MomentumTask::jac

(

)

const

jacDot()

const Eigen::MatrixXd& tasks::MomentumTask::jacDot

(

)

const

momentum() [1/2]

const sva::ForceVecd tasks::MomentumTask::momentum

(

)

const

momentum() [2/2]

void tasks::MomentumTask::momentum

(

const sva::ForceVecd &

mom

)

normalAcc()

const Eigen::VectorXd& tasks::MomentumTask::normalAcc

(

)

const

speed()

const Eigen::VectorXd& tasks::MomentumTask::speed

(

)

const

update() [1/2]

void tasks::MomentumTask::update	(	const rbd::MultiBody &	mb,
		const rbd::MultiBodyConfig &	mbc
	)

update() [2/2]

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

updateDot()

void tasks::MomentumTask::updateDot	(	const rbd::MultiBody &	mb,
		const rbd::MultiBodyConfig &	mbc
	)

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The documentation for this class was generated from the following file:

• src/Tasks/Tasks.h