Public Member Functions | List of all members
tasks::MultiRobotTransformTask Class Reference

#include <Tasks/Tasks.h>

Public Member Functions

 MultiRobotTransformTask (const std::vector< rbd::MultiBody > &mbs, int r1Index, int r2Index, const std::string &r1BodyName, const std::string &r2BodyName, const sva::PTransformd &X_r1b_r1s, const sva::PTransformd &X_r2b_r2s)
 
int r1Index () const
 
int r2Index () const
 
void X_r1b_r1s (const sva::PTransformd &X_r1b_r1s)
 
const sva::PTransformd & X_r1b_r1s () const
 
void X_r2b_r2s (const sva::PTransformd &X_r2b_r2s)
 
const sva::PTransformd & X_r2b_r2s () const
 
void update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, 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

◆ MultiRobotTransformTask()

tasks::MultiRobotTransformTask::MultiRobotTransformTask ( const std::vector< rbd::MultiBody > &  mbs,
int  r1Index,
int  r2Index,
const std::string &  r1BodyName,
const std::string &  r2BodyName,
const sva::PTransformd &  X_r1b_r1s,
const sva::PTransformd &  X_r2b_r2s 
)

Member Function Documentation

◆ eval()

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

◆ jac()

const Eigen::MatrixXd& tasks::MultiRobotTransformTask::jac ( int  index) const

◆ normalAcc()

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

◆ r1Index()

int tasks::MultiRobotTransformTask::r1Index ( ) const

◆ r2Index()

int tasks::MultiRobotTransformTask::r2Index ( ) const

◆ speed()

const Eigen::VectorXd& tasks::MultiRobotTransformTask::speed ( ) const

◆ update()

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

◆ X_r1b_r1s() [1/2]

const sva::PTransformd& tasks::MultiRobotTransformTask::X_r1b_r1s ( ) const

◆ X_r1b_r1s() [2/2]

void tasks::MultiRobotTransformTask::X_r1b_r1s ( const sva::PTransformd &  X_r1b_r1s)

◆ X_r2b_r2s() [1/2]

const sva::PTransformd& tasks::MultiRobotTransformTask::X_r2b_r2s ( ) const

◆ X_r2b_r2s() [2/2]

void tasks::MultiRobotTransformTask::X_r2b_r2s ( const sva::PTransformd &  X_r2b_r2s)
The documentation for this class was generated from the following file: