tasks::qp::HighLevelTask Class Reference

#include <Tasks/QPSolver.h>

Inheritance diagram for tasks::qp::HighLevelTask:

Public Member Functions
virtual	~HighLevelTask ()
virtual int	dim ()=0
virtual void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const SolverData &data)=0
virtual const Eigen::MatrixXd &	jac () const =0
virtual const Eigen::VectorXd &	eval () const =0
virtual const Eigen::VectorXd &	speed () const =0
virtual const Eigen::VectorXd &	normalAcc () const =0

Constructor & Destructor Documentation

~HighLevelTask()

virtual tasks::qp::HighLevelTask::~HighLevelTask ( )

inlinevirtual

Member Function Documentation

dim()

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

pure virtual

Implemented in tasks::qp::VectorOrientationTask, tasks::qp::RelativeDistTask, tasks::qp::OrientationTrackingTask, tasks::qp::LinVelocityTask, tasks::qp::MomentumTask, tasks::qp::CoMTask, tasks::qp::PositionBasedVisServoTask, tasks::qp::GazeTask, tasks::qp::SurfaceOrientationTask, tasks::qp::TransformTaskCommon< transform_task_t >, tasks::qp::TransformTaskCommon< tasks::TransformTask >, tasks::qp::TransformTaskCommon< tasks::SurfaceTransformTask >, tasks::qp::OrientationTask, tasks::qp::PositionTask, and tasks::qp::JointsSelector.

eval()

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

pure virtual

Implemented in tasks::qp::VectorOrientationTask, tasks::qp::RelativeDistTask, tasks::qp::OrientationTrackingTask, tasks::qp::LinVelocityTask, tasks::qp::MomentumTask, tasks::qp::CoMTask, tasks::qp::PositionBasedVisServoTask, tasks::qp::GazeTask, tasks::qp::SurfaceOrientationTask, tasks::qp::TransformTaskCommon< transform_task_t >, tasks::qp::OrientationTask, tasks::qp::PositionTask, and tasks::qp::JointsSelector.

jac()

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

pure virtual

Implemented in tasks::qp::VectorOrientationTask, tasks::qp::RelativeDistTask, tasks::qp::OrientationTrackingTask, tasks::qp::LinVelocityTask, tasks::qp::MomentumTask, tasks::qp::CoMTask, tasks::qp::PositionBasedVisServoTask, tasks::qp::GazeTask, tasks::qp::SurfaceOrientationTask, tasks::qp::TransformTaskCommon< transform_task_t >, tasks::qp::OrientationTask, tasks::qp::PositionTask, and tasks::qp::JointsSelector.

normalAcc()

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

pure virtual

Implemented in tasks::qp::VectorOrientationTask, tasks::qp::RelativeDistTask, tasks::qp::OrientationTrackingTask, tasks::qp::LinVelocityTask, tasks::qp::MomentumTask, tasks::qp::CoMTask, tasks::qp::PositionBasedVisServoTask, tasks::qp::GazeTask, tasks::qp::SurfaceOrientationTask, tasks::qp::TransformTaskCommon< transform_task_t >, tasks::qp::OrientationTask, tasks::qp::PositionTask, and tasks::qp::JointsSelector.

speed()

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

pure virtual

Implemented in tasks::qp::VectorOrientationTask, tasks::qp::RelativeDistTask, tasks::qp::OrientationTrackingTask, tasks::qp::LinVelocityTask, tasks::qp::MomentumTask, tasks::qp::CoMTask, tasks::qp::PositionBasedVisServoTask, tasks::qp::GazeTask, tasks::qp::SurfaceOrientationTask, tasks::qp::TransformTaskCommon< transform_task_t >, tasks::qp::OrientationTask, tasks::qp::PositionTask, and tasks::qp::JointsSelector.

update()

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

pure virtual

Implemented in tasks::qp::VectorOrientationTask, tasks::qp::RelativeDistTask, tasks::qp::OrientationTrackingTask, tasks::qp::LinVelocityTask, tasks::qp::CoMTask, tasks::qp::PositionBasedVisServoTask, tasks::qp::GazeTask, tasks::qp::SurfaceOrientationTask, tasks::qp::OrientationTask, tasks::qp::JointsSelector, tasks::qp::MomentumTask, tasks::qp::TransformTask, tasks::qp::SurfaceTransformTask, and tasks::qp::PositionTask.

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

• src/Tasks/QPSolver.h