tasks::qp::JointsSelector Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::JointsSelector:

Collaboration diagram for tasks::qp::JointsSelector:

Classes
struct	SelectedData

Public Member Functions
	JointsSelector (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hl, const std::vector< std::string > &selectedJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &activeDofs={})
const std::vector< SelectedData >	selectedJoints () const
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 ()

Static Public Member Functions
static JointsSelector	ActiveJoints (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hl, const std::vector< std::string > &activeJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &activeDofs={})
static JointsSelector	UnactiveJoints (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hl, const std::vector< std::string > &unactiveJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &unactiveDofs={})

Constructor & Destructor Documentation

JointsSelector()

tasks::qp::JointsSelector::JointsSelector	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		HighLevelTask *	hl,
		const std::vector< std::string > &	selectedJointsName,
		const std::map< std::string, std::vector< std::array< int, 2 >>> &	activeDofs = {}
	)

Member Function Documentation

ActiveJoints()

static JointsSelector tasks::qp::JointsSelector::ActiveJoints ( const std::vector< rbd::MultiBody > &  mbs, int  robotIndex, HighLevelTask *  hl, const std::vector< std::string > &  activeJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &  activeDofs = {}  )

static

dim()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

eval()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

jac()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

normalAcc()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

selectedJoints()

const std::vector<SelectedData> tasks::qp::JointsSelector::selectedJoints ( ) const

inline

speed()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

UnactiveJoints()

static JointsSelector tasks::qp::JointsSelector::UnactiveJoints ( const std::vector< rbd::MultiBody > &  mbs, int  robotIndex, HighLevelTask *  hl, const std::vector< std::string > &  unactiveJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &  unactiveDofs = {}  )

static

update()

virtual void tasks::qp::JointsSelector::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