Public Member Functions | List of all members
tasks::qp::OrientationTrackingTask Class Reference

#include <Tasks/QPTasks.h>

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Public Member Functions

 OrientationTrackingTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const std::string &bodyName, const Eigen::Vector3d &bodyPoint, const Eigen::Vector3d &bodyAxis, const std::vector< std::string > &trackingJointsName, const Eigen::Vector3d &trackedPoint)
 
tasks::OrientationTrackingTask & task ()
 
void trackedPoint (const Eigen::Vector3d &tp)
 
const Eigen::Vector3d & trackedPoint () const
 
void bodyPoint (const Eigen::Vector3d &bp)
 
const Eigen::Vector3d & bodyPoint () const
 
void bodyAxis (const Eigen::Vector3d &ba)
 
const Eigen::Vector3d & bodyAxis () 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 ()
 

Constructor & Destructor Documentation

◆ OrientationTrackingTask()

tasks::qp::OrientationTrackingTask::OrientationTrackingTask ( const std::vector< rbd::MultiBody > &  mbs,
int  robotIndex,
const std::string &  bodyName,
const Eigen::Vector3d &  bodyPoint,
const Eigen::Vector3d &  bodyAxis,
const std::vector< std::string > &  trackingJointsName,
const Eigen::Vector3d &  trackedPoint 
)

Member Function Documentation

◆ bodyAxis() [1/2]

const Eigen::Vector3d& tasks::qp::OrientationTrackingTask::bodyAxis ( ) const
inline

◆ bodyAxis() [2/2]

void tasks::qp::OrientationTrackingTask::bodyAxis ( const Eigen::Vector3d &  ba)
inline

◆ bodyPoint() [1/2]

const Eigen::Vector3d& tasks::qp::OrientationTrackingTask::bodyPoint ( ) const
inline

◆ bodyPoint() [2/2]

void tasks::qp::OrientationTrackingTask::bodyPoint ( const Eigen::Vector3d &  bp)
inline

◆ dim()

virtual int tasks::qp::OrientationTrackingTask::dim ( )
overridevirtual

Implements tasks::qp::HighLevelTask.

◆ eval()

virtual const Eigen::VectorXd& tasks::qp::OrientationTrackingTask::eval ( ) const
overridevirtual

Implements tasks::qp::HighLevelTask.

◆ jac()

virtual const Eigen::MatrixXd& tasks::qp::OrientationTrackingTask::jac ( ) const
overridevirtual

Implements tasks::qp::HighLevelTask.

◆ normalAcc()

virtual const Eigen::VectorXd& tasks::qp::OrientationTrackingTask::normalAcc ( ) const
overridevirtual

Implements tasks::qp::HighLevelTask.

◆ speed()

virtual const Eigen::VectorXd& tasks::qp::OrientationTrackingTask::speed ( ) const
overridevirtual

Implements tasks::qp::HighLevelTask.

◆ task()

tasks::OrientationTrackingTask& tasks::qp::OrientationTrackingTask::task ( )
inline

◆ trackedPoint() [1/2]

const Eigen::Vector3d& tasks::qp::OrientationTrackingTask::trackedPoint ( ) const
inline

◆ trackedPoint() [2/2]

void tasks::qp::OrientationTrackingTask::trackedPoint ( const Eigen::Vector3d &  tp)
inline

◆ update()

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

Implements tasks::qp::HighLevelTask.

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