tasks::qp::MomentumTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::MomentumTask:

Collaboration diagram for tasks::qp::MomentumTask:

Public Member Functions
	MomentumTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const sva::ForceVecd &mom)
tasks::MomentumTask &	task ()
void	momentum (const sva::ForceVecd &mom)
const sva::ForceVecd	momentum () const
virtual int	dim () override
virtual void	update (const std::vector< rbd::MultiBody > &mb, const std::vector< rbd::MultiBodyConfig > &mbc, 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

MomentumTask()

tasks::qp::MomentumTask::MomentumTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const sva::ForceVecd &	mom
	)

Member Function Documentation

dim()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

eval()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

jac()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

momentum() [1/2]

const sva::ForceVecd tasks::qp::MomentumTask::momentum ( ) const

inline

momentum() [2/2]

void tasks::qp::MomentumTask::momentum ( const sva::ForceVecd &  mom )

inline

normalAcc()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

speed()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

task()

tasks::MomentumTask& tasks::qp::MomentumTask::task ( )

inline

update()

virtual void tasks::qp::MomentumTask::update ( const std::vector< rbd::MultiBody > &  mb, const std::vector< rbd::MultiBodyConfig > &  mbc, 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