tasks::PositionTask Class Reference

#include <Tasks/Tasks.h>

Public Member Functions
	PositionTask (const rbd::MultiBody &mb, const std::string &bodyName, const Eigen::Vector3d &pos, const Eigen::Vector3d &bodyPoint=Eigen::Vector3d::Zero())
void	position (const Eigen::Vector3d &pos)
const Eigen::Vector3d &	position () const
void	bodyPoint (const Eigen::Vector3d &point)
const Eigen::Vector3d &	bodyPoint () 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

PositionTask()

tasks::PositionTask::PositionTask	(	const rbd::MultiBody &	mb,
		const std::string &	bodyName,
		const Eigen::Vector3d &	pos,
		const Eigen::Vector3d &	bodyPoint = Eigen::Vector3d::Zero()
	)

Member Function Documentation

bodyPoint() [1/2]

const Eigen::Vector3d& tasks::PositionTask::bodyPoint

(

)

const

bodyPoint() [2/2]

void tasks::PositionTask::bodyPoint

(

const Eigen::Vector3d &

point

)

eval()

const Eigen::VectorXd& tasks::PositionTask::eval

(

)

const

jac()

const Eigen::MatrixXd& tasks::PositionTask::jac

(

)

const

jacDot()

const Eigen::MatrixXd& tasks::PositionTask::jacDot

(

)

const

normalAcc()

const Eigen::VectorXd& tasks::PositionTask::normalAcc

(

)

const

position() [1/2]

const Eigen::Vector3d& tasks::PositionTask::position

(

)

const

position() [2/2]

void tasks::PositionTask::position

(

const Eigen::Vector3d &

pos

)

speed()

const Eigen::VectorXd& tasks::PositionTask::speed

(

)

const

update() [1/2]

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

update() [2/2]

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

updateDot()

void tasks::PositionTask::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