Tasks  1.8.4
Public Member Functions | List of all members
tasks::qp::GripperTorqueTask Class Reference

#include <Tasks/QPTasks.h>

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Public Member Functions

 GripperTorqueTask (ContactId contactId, const Eigen::Vector3d &origin, const Eigen::Vector3d &axis, double weight)
 
virtual std::pair< int, int > begin () const override
 
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

◆ GripperTorqueTask()

tasks::qp::GripperTorqueTask::GripperTorqueTask ( ContactId  contactId,
const Eigen::Vector3d &  origin,
const Eigen::Vector3d &  axis,
double  weight 
)
inline

Member Function Documentation

◆ begin()

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

Implements tasks::qp::Task.

◆ C()

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

Implements tasks::qp::Task.

◆ Q()

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

Implements tasks::qp::Task.

◆ update()

virtual void tasks::qp::GripperTorqueTask::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::GripperTorqueTask::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: