tasks::qp::CoMTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::CoMTask:

Collaboration diagram for tasks::qp::CoMTask:

Public Member Functions
	CoMTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const Eigen::Vector3d &com)
	CoMTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const Eigen::Vector3d &com, std::vector< double > weight)
tasks::CoMTask &	task ()
void	com (const Eigen::Vector3d &com)
const Eigen::Vector3d &	com () const
const Eigen::Vector3d &	actual () const
void	updateInertialParameters (const std::vector< rbd::MultiBody > &mbs)
virtual int	dim () override
virtual void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const SolverData &data) override
virtual const Eigen::MatrixXd &	jac () const override
virtual const Eigen::VectorXd &	eval () const override
virtual const Eigen::VectorXd &	speed () const override
virtual const Eigen::VectorXd &	normalAcc () const override
Public Member Functions inherited from tasks::qp::HighLevelTask
virtual	~HighLevelTask ()

Constructor & Destructor Documentation

CoMTask() [1/2]

tasks::qp::CoMTask::CoMTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const Eigen::Vector3d &	com
	)

CoMTask() [2/2]

tasks::qp::CoMTask::CoMTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const Eigen::Vector3d &	com,
		std::vector< double >	weight
	)

Member Function Documentation

actual()

const Eigen::Vector3d& tasks::qp::CoMTask::actual ( ) const

inline

com() [1/2]

const Eigen::Vector3d& tasks::qp::CoMTask::com ( ) const

inline

com() [2/2]

void tasks::qp::CoMTask::com ( const Eigen::Vector3d &  com )

inline

dim()

virtual int tasks::qp::CoMTask::dim ( )

overridevirtual

Implements tasks::qp::HighLevelTask.

eval()

virtual const Eigen::VectorXd& tasks::qp::CoMTask::eval ( ) const

overridevirtual

Implements tasks::qp::HighLevelTask.

jac()

virtual const Eigen::MatrixXd& tasks::qp::CoMTask::jac ( ) const

overridevirtual

Implements tasks::qp::HighLevelTask.

normalAcc()

virtual const Eigen::VectorXd& tasks::qp::CoMTask::normalAcc ( ) const

overridevirtual

Implements tasks::qp::HighLevelTask.

speed()

virtual const Eigen::VectorXd& tasks::qp::CoMTask::speed ( ) const

overridevirtual

Implements tasks::qp::HighLevelTask.

task()

tasks::CoMTask& tasks::qp::CoMTask::task ( )

inline

update()

virtual void tasks::qp::CoMTask::update ( const std::vector< rbd::MultiBody > &  mbs, const std::vector< rbd::MultiBodyConfig > &  mbcs, const SolverData &  data  )

overridevirtual

Implements tasks::qp::HighLevelTask.

updateInertialParameters()

void tasks::qp::CoMTask::updateInertialParameters

(

const std::vector< rbd::MultiBody > &

mbs

)

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

• src/Tasks/QPTasks.h