tasks::VectorOrientationTask Class Reference

#include <Tasks/Tasks.h>

Public Member Functions
	VectorOrientationTask (const rbd::MultiBody &mb, const std::string &bodyName, const Eigen::Vector3d &bodyVector, const Eigen::Vector3d &targetVector)
void	update (const rbd::MultiBody &mb, const rbd::MultiBodyConfig &mbc, const std::vector< sva::MotionVecd > &normalAccB)
void	bodyVector (const Eigen::Vector3d &vector)
const Eigen::Vector3d &	bodyVector () const
void	target (const Eigen::Vector3d &vector)
const Eigen::Vector3d &	target () const
const Eigen::Vector3d &	actual () const
const Eigen::VectorXd &	eval () const
const Eigen::VectorXd &	speed () const
const Eigen::VectorXd &	normalAcc () const
const Eigen::MatrixXd &	jac () const

Constructor & Destructor Documentation

VectorOrientationTask()

tasks::VectorOrientationTask::VectorOrientationTask	(	const rbd::MultiBody &	mb,
		const std::string &	bodyName,
		const Eigen::Vector3d &	bodyVector,
		const Eigen::Vector3d &	targetVector
	)

Member Function Documentation

actual()

const Eigen::Vector3d& tasks::VectorOrientationTask::actual

(

)

const

bodyVector() [1/2]

const Eigen::Vector3d& tasks::VectorOrientationTask::bodyVector

(

)

const

bodyVector() [2/2]

void tasks::VectorOrientationTask::bodyVector

(

const Eigen::Vector3d &

vector

)

eval()

const Eigen::VectorXd& tasks::VectorOrientationTask::eval

(

)

const

jac()

const Eigen::MatrixXd& tasks::VectorOrientationTask::jac

(

)

const

normalAcc()

const Eigen::VectorXd& tasks::VectorOrientationTask::normalAcc

(

)

const

speed()

const Eigen::VectorXd& tasks::VectorOrientationTask::speed

(

)

const

target() [1/2]

const Eigen::Vector3d& tasks::VectorOrientationTask::target

(

)

const

target() [2/2]

void tasks::VectorOrientationTask::target

(

const Eigen::Vector3d &

vector

)

update()

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

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

• src/Tasks/Tasks.h