tasks::SurfaceOrientationTask Class Reference

#include <Tasks/Tasks.h>

Public Member Functions
	SurfaceOrientationTask (const rbd::MultiBody &mb, const std::string &bodyName, const Eigen::Quaterniond &ori, const sva::PTransformd &X_b_s)
	SurfaceOrientationTask (const rbd::MultiBody &mb, const std::string &bodyName, const Eigen::Matrix3d &ori, const sva::PTransformd &X_b_s)
void	orientation (const Eigen::Quaterniond &ori)
void	orientation (const Eigen::Matrix3d &ori)
const Eigen::Matrix3d &	orientation () 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

SurfaceOrientationTask() [1/2]

tasks::SurfaceOrientationTask::SurfaceOrientationTask	(	const rbd::MultiBody &	mb,
		const std::string &	bodyName,
		const Eigen::Quaterniond &	ori,
		const sva::PTransformd &	X_b_s
	)

SurfaceOrientationTask() [2/2]

tasks::SurfaceOrientationTask::SurfaceOrientationTask	(	const rbd::MultiBody &	mb,
		const std::string &	bodyName,
		const Eigen::Matrix3d &	ori,
		const sva::PTransformd &	X_b_s
	)

Member Function Documentation

eval()

const Eigen::VectorXd& tasks::SurfaceOrientationTask::eval

(

)

const

jac()

const Eigen::MatrixXd& tasks::SurfaceOrientationTask::jac

(

)

const

jacDot()

const Eigen::MatrixXd& tasks::SurfaceOrientationTask::jacDot

(

)

const

normalAcc()

const Eigen::VectorXd& tasks::SurfaceOrientationTask::normalAcc

(

)

const

orientation() [1/3]

const Eigen::Matrix3d& tasks::SurfaceOrientationTask::orientation

(

)

const

orientation() [2/3]

void tasks::SurfaceOrientationTask::orientation

(

const Eigen::Matrix3d &

ori

)

orientation() [3/3]

void tasks::SurfaceOrientationTask::orientation

(

const Eigen::Quaterniond &

ori

)

speed()

const Eigen::VectorXd& tasks::SurfaceOrientationTask::speed

(

)

const

update() [1/2]

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

update() [2/2]

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

updateDot()

void tasks::SurfaceOrientationTask::updateDot	(	const rbd::MultiBody &	mb,
		const rbd::MultiBodyConfig &	mbc
	)

---

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

• src/Tasks/Tasks.h