tasks::MultiCoMTask Class Reference

#include <Tasks/Tasks.h>

Public Member Functions
	MultiCoMTask (const std::vector< rbd::MultiBody > &mbs, std::vector< int > robotIndexes, const Eigen::Vector3d &com)
const std::vector< int > &	robotIndexes () const
void	com (const Eigen::Vector3d &com)
const Eigen::Vector3d	com () const
void	updateInertialParameters (const std::vector< rbd::MultiBody > &mbs)
void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs)
void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const std::vector< std::vector< sva::MotionVecd >> &normalAccB)
void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const std::vector< Eigen::Vector3d > &coms, const std::vector< std::vector< sva::MotionVecd >> &normalAccB)
const Eigen::VectorXd &	eval () const
const Eigen::VectorXd &	speed () const
const Eigen::VectorXd &	normalAcc () const
const Eigen::MatrixXd &	jac (int index) const

Constructor & Destructor Documentation

MultiCoMTask()

tasks::MultiCoMTask::MultiCoMTask	(	const std::vector< rbd::MultiBody > &	mbs,
		std::vector< int >	robotIndexes,
		const Eigen::Vector3d &	com
	)

Member Function Documentation

com() [1/2]

const Eigen::Vector3d tasks::MultiCoMTask::com

(

)

const

com() [2/2]

void tasks::MultiCoMTask::com

(

const Eigen::Vector3d &

com

)

eval()

const Eigen::VectorXd& tasks::MultiCoMTask::eval

(

)

const

jac()

const Eigen::MatrixXd& tasks::MultiCoMTask::jac

(

int

index

)

const

normalAcc()

const Eigen::VectorXd& tasks::MultiCoMTask::normalAcc

(

)

const

robotIndexes()

const std::vector<int>& tasks::MultiCoMTask::robotIndexes

(

)

const

speed()

const Eigen::VectorXd& tasks::MultiCoMTask::speed

(

)

const

update() [1/3]

void tasks::MultiCoMTask::update	(	const std::vector< rbd::MultiBody > &	mbs,
		const std::vector< rbd::MultiBodyConfig > &	mbcs
	)

update() [2/3]

void tasks::MultiCoMTask::update	(	const std::vector< rbd::MultiBody > &	mbs,
		const std::vector< rbd::MultiBodyConfig > &	mbcs,
		const std::vector< Eigen::Vector3d > &	coms,
		const std::vector< std::vector< sva::MotionVecd >> &	normalAccB
	)

update() [3/3]

void tasks::MultiCoMTask::update	(	const std::vector< rbd::MultiBody > &	mbs,
		const std::vector< rbd::MultiBodyConfig > &	mbcs,
		const std::vector< std::vector< sva::MotionVecd >> &	normalAccB
	)

updateInertialParameters()

void tasks::MultiCoMTask::updateInertialParameters

(

const std::vector< rbd::MultiBody > &

mbs

)

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

• src/Tasks/Tasks.h