tasks::qp::MultiRobotTransformTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::MultiRobotTransformTask:

Collaboration diagram for tasks::qp::MultiRobotTransformTask:

Public Member Functions
	MultiRobotTransformTask (const std::vector< rbd::MultiBody > &mbs, int r1Index, int r2Index, const std::string &r1BodyName, const std::string &r2BodyName, const sva::PTransformd &X_r1b_r1s, const sva::PTransformd &X_r2b_r2s, double stiffness, double weight)
tasks::MultiRobotTransformTask &	task ()
void	X_r1b_r1s (const sva::PTransformd &X_r1b_r1s)
const sva::PTransformd &	X_r1b_r1s () const
void	X_r2b_r2s (const sva::PTransformd &X_r2b_r2s)
const sva::PTransformd &	X_r2b_r2s () const
double	stiffness () const
void	stiffness (double stiffness)
void	dimWeight (const Eigen::Vector6d &dim)
const Eigen::VectorXd &	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

MultiRobotTransformTask()

tasks::qp::MultiRobotTransformTask::MultiRobotTransformTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	r1Index,
		int	r2Index,
		const std::string &	r1BodyName,
		const std::string &	r2BodyName,
		const sva::PTransformd &	X_r1b_r1s,
		const sva::PTransformd &	X_r2b_r2s,
		double	stiffness,
		double	weight
	)

Member Function Documentation

begin()

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

inlineoverridevirtual

Implements tasks::qp::Task.

C()

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

overridevirtual

Implements tasks::qp::Task.

dimWeight() [1/2]

const Eigen::VectorXd& tasks::qp::MultiRobotTransformTask::dimWeight ( ) const

inline

dimWeight() [2/2]

void tasks::qp::MultiRobotTransformTask::dimWeight

(

const Eigen::Vector6d &

dim

)

eval()

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

(

)

const

Q()

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

overridevirtual

Implements tasks::qp::Task.

speed()

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

(

)

const

stiffness() [1/2]

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

inline

stiffness() [2/2]

void tasks::qp::MultiRobotTransformTask::stiffness

(

double

stiffness

)

task()

tasks::MultiRobotTransformTask& tasks::qp::MultiRobotTransformTask::task ( )

inline

update()

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

overridevirtual

Implements tasks::qp::Task.

X_r1b_r1s() [1/2]

const sva::PTransformd& tasks::qp::MultiRobotTransformTask::X_r1b_r1s

(

)

const

X_r1b_r1s() [2/2]

void tasks::qp::MultiRobotTransformTask::X_r1b_r1s

(

const sva::PTransformd &

X_r1b_r1s

)

X_r2b_r2s() [1/2]

const sva::PTransformd& tasks::qp::MultiRobotTransformTask::X_r2b_r2s

(

)

const

X_r2b_r2s() [2/2]

void tasks::qp::MultiRobotTransformTask::X_r2b_r2s

(

const sva::PTransformd &

X_r2b_r2s

)

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

• src/Tasks/QPTasks.h