tasks::qp::GazeTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::GazeTask:

Collaboration diagram for tasks::qp::GazeTask:

Public Member Functions
	GazeTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const std::string &bodyName, const Eigen::Vector2d &point2d, double depthEstimate, const sva::PTransformd &X_b_gaze, const Eigen::Vector2d &point2d_ref=Eigen::Vector2d::Zero())
	GazeTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const std::string &bodyName, const Eigen::Vector3d &point3d, const sva::PTransformd &X_b_gaze, const Eigen::Vector2d &point2d_ref=Eigen::Vector2d::Zero())
tasks::GazeTask &	task ()
void	error (const Eigen::Vector2d &point2d, const Eigen::Vector2d &point2d_ref=Eigen::Vector2d::Zero())
void	error (const Eigen::Vector3d &point3d, const Eigen::Vector2d &point2d_ref=Eigen::Vector2d::Zero())
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

GazeTask() [1/2]

tasks::qp::GazeTask::GazeTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const std::string &	bodyName,
		const Eigen::Vector2d &	point2d,
		double	depthEstimate,
		const sva::PTransformd &	X_b_gaze,
		const Eigen::Vector2d &	point2d_ref = Eigen::Vector2d::Zero()
	)

GazeTask() [2/2]

tasks::qp::GazeTask::GazeTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const std::string &	bodyName,
		const Eigen::Vector3d &	point3d,
		const sva::PTransformd &	X_b_gaze,
		const Eigen::Vector2d &	point2d_ref = Eigen::Vector2d::Zero()
	)

Member Function Documentation

dim()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

error() [1/2]

void tasks::qp::GazeTask::error ( const Eigen::Vector2d &  point2d, const Eigen::Vector2d &  point2d_ref = Eigen::Vector2d::Zero()  )

inline

error() [2/2]

void tasks::qp::GazeTask::error ( const Eigen::Vector3d &  point3d, const Eigen::Vector2d &  point2d_ref = Eigen::Vector2d::Zero()  )

inline

eval()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

jac()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

normalAcc()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

speed()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

task()

tasks::GazeTask& tasks::qp::GazeTask::task ( )

inline

update()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

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

• src/Tasks/QPTasks.h