tasks::OrientationTask Class Reference

#include <Tasks/Tasks.h>

Public Member Functions
	OrientationTask (const rbd::MultiBody &mb, const std::string &bodyName, const Eigen::Quaterniond &ori)
	OrientationTask (const rbd::MultiBody &mb, const std::string &bodyName, const Eigen::Matrix3d &ori)
void	orientation (const Eigen::Quaterniond &ori)
void	orientation (const Eigen::Matrix3d &ori)
const Eigen::Matrix3d &	orientation () 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

OrientationTask() [1/2]

tasks::OrientationTask::OrientationTask	(	const rbd::MultiBody &	mb,
		const std::string &	bodyName,
		const Eigen::Quaterniond &	ori
	)

OrientationTask() [2/2]

tasks::OrientationTask::OrientationTask	(	const rbd::MultiBody &	mb,
		const std::string &	bodyName,
		const Eigen::Matrix3d &	ori
	)

Member Function Documentation

eval()

const Eigen::VectorXd& tasks::OrientationTask::eval

(

)

const

jac()

const Eigen::MatrixXd& tasks::OrientationTask::jac

(

)

const

jacDot()

const Eigen::MatrixXd& tasks::OrientationTask::jacDot

(

)

const

normalAcc()

const Eigen::VectorXd& tasks::OrientationTask::normalAcc

(

)

const

orientation() [1/3]

const Eigen::Matrix3d& tasks::OrientationTask::orientation

(

)

const

orientation() [2/3]

void tasks::OrientationTask::orientation

(

const Eigen::Matrix3d &

ori

)

orientation() [3/3]

void tasks::OrientationTask::orientation

(

const Eigen::Quaterniond &

ori

)

speed()

const Eigen::VectorXd& tasks::OrientationTask::speed

(

)

const

update() [1/2]

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

update() [2/2]

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

updateDot()

void tasks::OrientationTask::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