Public Member Functions | List of all members
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)
The documentation for this class was generated from the following file: