tasks::PostureTask Class Reference

#include <Tasks/Tasks.h>

Public Member Functions
	PostureTask (const rbd::MultiBody &mb, std::vector< std::vector< double >> q)
void	posture (std::vector< std::vector< double >> q)
const std::vector< std::vector< double > >	posture () const
void	update (const rbd::MultiBody &mb, const rbd::MultiBodyConfig &mbc)
void	updateDot (const rbd::MultiBody &mb, const rbd::MultiBodyConfig &mbc)
const Eigen::VectorXd &	eval () const
const Eigen::MatrixXd &	jac () const
const Eigen::MatrixXd &	jacDot () const

Constructor & Destructor Documentation

PostureTask()

tasks::PostureTask::PostureTask	(	const rbd::MultiBody &	mb,
		std::vector< std::vector< double >>	q
	)

Member Function Documentation

eval()

const Eigen::VectorXd& tasks::PostureTask::eval

(

)

const

jac()

const Eigen::MatrixXd& tasks::PostureTask::jac

(

)

const

jacDot()

const Eigen::MatrixXd& tasks::PostureTask::jacDot

(

)

const

posture() [1/2]

const std::vector<std::vector<double> > tasks::PostureTask::posture

(

)

const

posture() [2/2]

void tasks::PostureTask::posture

(

std::vector< std::vector< double >>

q

)

update()

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

updateDot()

void tasks::PostureTask::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