tasks::RelativeDistTask Class Reference

#include <Tasks/Tasks.h>

Public Types
typedef std::tuple< std::string, Eigen::Vector3d, Eigen::Vector3d >	rbInfo

Public Member Functions
	RelativeDistTask (const rbd::MultiBody &mb, const double timestep, const rbInfo &rbi1, const rbInfo &rbi2, const Eigen::Vector3d &u1=Eigen::Vector3d::Zero(), const Eigen::Vector3d &u2=Eigen::Vector3d::Zero())
void	robotPoint (const int bIndex, const Eigen::Vector3d &point)
void	envPoint (const int bIndex, const Eigen::Vector3d &point)
void	vector (const int bIndex, const Eigen::Vector3d &u)
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

Member Typedef Documentation

rbInfo

typedef std::tuple<std::string, Eigen::Vector3d, Eigen::Vector3d> tasks::RelativeDistTask::rbInfo

Constructor & Destructor Documentation

RelativeDistTask()

tasks::RelativeDistTask::RelativeDistTask	(	const rbd::MultiBody &	mb,
		const double	timestep,
		const rbInfo &	rbi1,
		const rbInfo &	rbi2,
		const Eigen::Vector3d &	u1 = Eigen::Vector3d::Zero(),
		const Eigen::Vector3d &	u2 = Eigen::Vector3d::Zero()
	)

Member Function Documentation

envPoint()

void tasks::RelativeDistTask::envPoint	(	const int	bIndex,
		const Eigen::Vector3d &	point
	)

eval()

const Eigen::VectorXd& tasks::RelativeDistTask::eval

(

)

const

jac()

const Eigen::MatrixXd& tasks::RelativeDistTask::jac

(

)

const

normalAcc()

const Eigen::VectorXd& tasks::RelativeDistTask::normalAcc

(

)

const

robotPoint()

void tasks::RelativeDistTask::robotPoint	(	const int	bIndex,
		const Eigen::Vector3d &	point
	)

speed()

const Eigen::VectorXd& tasks::RelativeDistTask::speed

(

)

const

update()

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

vector()

void tasks::RelativeDistTask::vector	(	const int	bIndex,
		const Eigen::Vector3d &	u
	)

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

• src/Tasks/Tasks.h