tasks::PositionBasedVisServoTask Class Reference

#include <Tasks/Tasks.h>

Public Member Functions
	PositionBasedVisServoTask (const rbd::MultiBody &mb, const std::string &bodyName, const sva::PTransformd &X_t_s, const sva::PTransformd &X_b_s)
	PositionBasedVisServoTask (const PositionBasedVisServoTask &rhs)
	PositionBasedVisServoTask (PositionBasedVisServoTask &&)=default
PositionBasedVisServoTask &	operator= (const PositionBasedVisServoTask &rhs)
PositionBasedVisServoTask &	operator= (PositionBasedVisServoTask &&)=default
void	error (const sva::PTransformd &X_t_s)
void	update (const rbd::MultiBody &mb, const rbd::MultiBodyConfig &mbc, const std::vector< sva::MotionVecd > &normalAccB)
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

PositionBasedVisServoTask() [1/3]

tasks::PositionBasedVisServoTask::PositionBasedVisServoTask	(	const rbd::MultiBody &	mb,
		const std::string &	bodyName,
		const sva::PTransformd &	X_t_s,
		const sva::PTransformd &	X_b_s
	)

PositionBasedVisServoTask() [2/3]

tasks::PositionBasedVisServoTask::PositionBasedVisServoTask

(

const PositionBasedVisServoTask &

rhs

)

PositionBasedVisServoTask() [3/3]

tasks::PositionBasedVisServoTask::PositionBasedVisServoTask ( PositionBasedVisServoTask &&  )

default

Member Function Documentation

error()

void tasks::PositionBasedVisServoTask::error

(

const sva::PTransformd &

X_t_s

)

eval()

const Eigen::VectorXd& tasks::PositionBasedVisServoTask::eval

(

)

const

jac()

const Eigen::MatrixXd& tasks::PositionBasedVisServoTask::jac

(

)

const

jacDot()

const Eigen::MatrixXd& tasks::PositionBasedVisServoTask::jacDot

(

)

const

normalAcc()

const Eigen::VectorXd& tasks::PositionBasedVisServoTask::normalAcc

(

)

const

operator=() [1/2]

PositionBasedVisServoTask& tasks::PositionBasedVisServoTask::operator=

(

const PositionBasedVisServoTask &

rhs

)

operator=() [2/2]

PositionBasedVisServoTask& tasks::PositionBasedVisServoTask::operator= ( PositionBasedVisServoTask &&  )

default

speed()

const Eigen::VectorXd& tasks::PositionBasedVisServoTask::speed

(

)

const

update()

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

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

• src/Tasks/Tasks.h