tasks::qp::MultiCoMTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::MultiCoMTask:

Collaboration diagram for tasks::qp::MultiCoMTask:

Public Member Functions
	MultiCoMTask (const std::vector< rbd::MultiBody > &mb, std::vector< int > robotIndexes, const Eigen::Vector3d &com, double stiffness, double weight)
	MultiCoMTask (const std::vector< rbd::MultiBody > &mb, std::vector< int > robotIndexes, const Eigen::Vector3d &com, double stiffness, const Eigen::Vector3d &dimWeight, double weight)
tasks::MultiCoMTask &	task ()
void	com (const Eigen::Vector3d &com)
const Eigen::Vector3d	com () const
void	updateInertialParameters (const std::vector< rbd::MultiBody > &mbs)
double	stiffness () const
void	stiffness (double stiffness)
void	dimWeight (const Eigen::Vector3d &dim)
const Eigen::Vector3d &	dimWeight () const
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
const Eigen::VectorXd &	eval () const
const Eigen::VectorXd &	speed () const
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

MultiCoMTask() [1/2]

tasks::qp::MultiCoMTask::MultiCoMTask	(	const std::vector< rbd::MultiBody > &	mb,
		std::vector< int >	robotIndexes,
		const Eigen::Vector3d &	com,
		double	stiffness,
		double	weight
	)

MultiCoMTask() [2/2]

tasks::qp::MultiCoMTask::MultiCoMTask	(	const std::vector< rbd::MultiBody > &	mb,
		std::vector< int >	robotIndexes,
		const Eigen::Vector3d &	com,
		double	stiffness,
		const Eigen::Vector3d &	dimWeight,
		double	weight
	)

Member Function Documentation

begin()

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

inlineoverridevirtual

Implements tasks::qp::Task.

C()

virtual const Eigen::VectorXd& tasks::qp::MultiCoMTask::C ( ) const

overridevirtual

Implements tasks::qp::Task.

com() [1/2]

const Eigen::Vector3d tasks::qp::MultiCoMTask::com ( ) const

inline

com() [2/2]

void tasks::qp::MultiCoMTask::com ( const Eigen::Vector3d &  com )

inline

dimWeight() [1/2]

const Eigen::Vector3d& tasks::qp::MultiCoMTask::dimWeight ( ) const

inline

dimWeight() [2/2]

void tasks::qp::MultiCoMTask::dimWeight

(

const Eigen::Vector3d &

dim

)

eval()

const Eigen::VectorXd& tasks::qp::MultiCoMTask::eval

(

)

const

Q()

virtual const Eigen::MatrixXd& tasks::qp::MultiCoMTask::Q ( ) const

overridevirtual

Implements tasks::qp::Task.

speed()

const Eigen::VectorXd& tasks::qp::MultiCoMTask::speed

(

)

const

stiffness() [1/2]

double tasks::qp::MultiCoMTask::stiffness ( ) const

inline

stiffness() [2/2]

void tasks::qp::MultiCoMTask::stiffness

(

double

stiffness

)

task()

tasks::MultiCoMTask& tasks::qp::MultiCoMTask::task ( )

inline

update()

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

overridevirtual

Implements tasks::qp::Task.

updateInertialParameters()

void tasks::qp::MultiCoMTask::updateInertialParameters

(

const std::vector< rbd::MultiBody > &

mbs

)

updateNrVars()

virtual void tasks::qp::MultiCoMTask::updateNrVars ( const std::vector< rbd::MultiBody > &  mbs, const SolverData &  data  )

overridevirtual

Implements tasks::qp::Task.

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

• src/Tasks/QPTasks.h