Public Member Functions | List of all members
tasks::qp::ContactTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::ContactTask:
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Collaboration diagram for tasks::qp::ContactTask:
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Public Member Functions

 ContactTask (ContactId contactId, double stiffness, double weight)
 
virtual std::pair< int, int > begin () const override
 
void error (const Eigen::Vector3d &error)
 
void errorD (const Eigen::Vector3d &errorD)
 
virtual void updateNrVars (const std::vector< rbd::MultiBody > &mbs, const SolverData &data) override
 
virtual void update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const SolverData &data) override
 
virtual const Eigen::MatrixXd & Q () const override
 
virtual const Eigen::VectorXd & C () const override
 
- Public Member Functions inherited from tasks::qp::Task
 Task (double weight)
 
virtual ~Task ()
 
virtual double weight () const
 
virtual void weight (double w)
 

Constructor & Destructor Documentation

◆ ContactTask()

tasks::qp::ContactTask::ContactTask ( ContactId  contactId,
double  stiffness,
double  weight 
)
inline

Member Function Documentation

◆ begin()

virtual std::pair<int, int> tasks::qp::ContactTask::begin ( ) const
inlineoverridevirtual

Implements tasks::qp::Task.

◆ C()

virtual const Eigen::VectorXd& tasks::qp::ContactTask::C ( ) const
overridevirtual

Implements tasks::qp::Task.

◆ error()

void tasks::qp::ContactTask::error ( const Eigen::Vector3d &  error)

◆ errorD()

void tasks::qp::ContactTask::errorD ( const Eigen::Vector3d &  errorD)

◆ Q()

virtual const Eigen::MatrixXd& tasks::qp::ContactTask::Q ( ) const
overridevirtual

Implements tasks::qp::Task.

◆ update()

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

Implements tasks::qp::Task.

◆ updateNrVars()

virtual void tasks::qp::ContactTask::updateNrVars ( const std::vector< rbd::MultiBody > &  mbs,
const SolverData &  data 
)
overridevirtual

Implements tasks::qp::Task.

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