Inheritance diagram for tasks::SurfaceTransformTask:

Collaboration diagram for tasks::SurfaceTransformTask:

Public Member Functions
	SurfaceTransformTask (const rbd::MultiBody &mb, const std::string &bodyName, const sva::PTransformd &X_0_t, const sva::PTransformd &X_b_p=sva::PTransformd::Identity())

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

Public Member Functions inherited from tasks::TransformTaskCommon
	TransformTaskCommon (const rbd::MultiBody &mb, const std::string &bodyName, const sva::PTransformd &X_0_t, const sva::PTransformd &X_b_p)

void	target (const sva::PTransformd &X_0_t)

const sva::PTransformd &	target () const

void	X_b_p (const sva::PTransformd &X_b_p)

const sva::PTransformd &	X_b_p () const

const Eigen::VectorXd &	eval () const

const Eigen::VectorXd &	speed () const

const Eigen::VectorXd &	normalAcc () const

const Eigen::MatrixXd &	jac () const

Protected Attributes
Eigen::MatrixXd	jacMatTmp_

Protected Attributes inherited from tasks::TransformTaskCommon
sva::PTransformd	X_0_t_

sva::PTransformd	X_b_p_

int	bodyIndex_

rbd::Jacobian	jac_

Eigen::VectorXd	eval_

Eigen::VectorXd	speed_

Eigen::VectorXd	normalAcc_

Eigen::MatrixXd	jacMat_

Constructor & Destructor Documentation

◆ SurfaceTransformTask()

tasks::SurfaceTransformTask::SurfaceTransformTask	(	const rbd::MultiBody &	mb,
		const std::string &	bodyName,
		const sva::PTransformd &	X_0_t,
		const sva::PTransformd &	X_b_p = `sva::PTransformd::Identity()`
	)

Compute eval, speed, normalAcc and jac in moving 'p' frame.

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

Eigen::MatrixXd tasks::SurfaceTransformTask::jacMatTmp_

protected

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