tasks::OrientationTrackingTask Class Reference

#include <Tasks/Tasks.h>

Public Member Functions
	OrientationTrackingTask (const rbd::MultiBody &mb, const std::string &bodyName, const Eigen::Vector3d &bodyPoint, const Eigen::Vector3d &bodyAxis, const std::vector< std::string > &trackingJointsName, const Eigen::Vector3d &trackedPoint)
void	trackedPoint (const Eigen::Vector3d &tp)
const Eigen::Vector3d &	trackedPoint () const
void	bodyPoint (const Eigen::Vector3d &bp)
const Eigen::Vector3d &	bodyPoint () const
void	bodyAxis (const Eigen::Vector3d &ba)
const Eigen::Vector3d &	bodyAxis () const
void	update (const rbd::MultiBody &mb, const rbd::MultiBodyConfig &mbc)
void	updateDot (const rbd::MultiBody &mb, const rbd::MultiBodyConfig &mbc)
virtual const Eigen::MatrixXd &	jac () const
virtual const Eigen::MatrixXd &	jacDot () const
virtual const Eigen::VectorXd &	eval () const

Constructor & Destructor Documentation

OrientationTrackingTask()

tasks::OrientationTrackingTask::OrientationTrackingTask	(	const rbd::MultiBody &	mb,
		const std::string &	bodyName,
		const Eigen::Vector3d &	bodyPoint,
		const Eigen::Vector3d &	bodyAxis,
		const std::vector< std::string > &	trackingJointsName,
		const Eigen::Vector3d &	trackedPoint
	)

Member Function Documentation

bodyAxis() [1/2]

const Eigen::Vector3d& tasks::OrientationTrackingTask::bodyAxis

(

)

const

bodyAxis() [2/2]

void tasks::OrientationTrackingTask::bodyAxis

(

const Eigen::Vector3d &

ba

)

bodyPoint() [1/2]

const Eigen::Vector3d& tasks::OrientationTrackingTask::bodyPoint

(

)

const

bodyPoint() [2/2]

void tasks::OrientationTrackingTask::bodyPoint

(

const Eigen::Vector3d &

bp

)

eval()

virtual const Eigen::VectorXd& tasks::OrientationTrackingTask::eval ( ) const

virtual

jac()

virtual const Eigen::MatrixXd& tasks::OrientationTrackingTask::jac ( ) const

virtual

jacDot()

virtual const Eigen::MatrixXd& tasks::OrientationTrackingTask::jacDot ( ) const

virtual

trackedPoint() [1/2]

const Eigen::Vector3d& tasks::OrientationTrackingTask::trackedPoint

(

)

const

trackedPoint() [2/2]

void tasks::OrientationTrackingTask::trackedPoint

(

const Eigen::Vector3d &

tp

)

update()

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

updateDot()

void tasks::OrientationTrackingTask::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