Inheritance diagram for tasks::TransformTask:

Collaboration diagram for tasks::TransformTask:

Public Member Functions
	TransformTask (const rbd::MultiBody &mb, const std::string &bodyName, const sva::PTransformd &X_0_t, const sva::PTransformd &X_b_p=sva::PTransformd::Identity(), const Eigen::Matrix3d &E_0_c=Eigen::Matrix3d::Identity())

void	E_0_c (const Eigen::Matrix3d &E_0_c)

const Eigen::Matrix3d &	E_0_c () const

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

Additional Inherited Members
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

◆ TransformTask()

tasks::TransformTask::TransformTask	(	const rbd::MultiBody &	mb,
		const std::string &	bodyName,
		const sva::PTransformd &	X_0_t,
		const sva::PTransformd &	X_b_p = `sva::PTransformd::Identity()`,
		const Eigen::Matrix3d &	E_0_c = `Eigen::Matrix3d::Identity()`
	)

Compute eval, speed, normalAcc and jac in the world frame (0) or in the user defined static frame 'c'.

Parameters

E_0_c Optional rotation between the world farme and a user defined frame 'c' to change the frame of the task.

const Eigen::Matrix3d& tasks::TransformTask::E_0_c ( ) const

void tasks::TransformTask::E_0_c ( const Eigen::Matrix3d & E_0_c )

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

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