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

#include <Tasks/QPTasks.h>

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Public Member Functions

 PIDTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hlTask, double P, double I, double D, double weight)
 
 PIDTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hlTask, double P, double I, double D, const Eigen::VectorXd &dimWeight, double weight)
 
double P () const
 
void P (double p)
 
double I () const
 
void I (double i)
 
double D () const
 
void D (double d)
 
void error (const Eigen::VectorXd &err)
 
void errorD (const Eigen::VectorXd &errD)
 
void errorI (const Eigen::VectorXd &errI)
 
virtual void update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const SolverData &data) override
 
- Public Member Functions inherited from tasks::qp::SetPointTaskCommon
 SetPointTaskCommon (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hlTask, double weight)
 
 SetPointTaskCommon (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hlTask, const Eigen::VectorXd &dimWeight, double weight)
 
virtual std::pair< int, int > begin () const override
 
void dimWeight (const Eigen::VectorXd &dim)
 
const Eigen::VectorXd & dimWeight () const
 
virtual void updateNrVars (const std::vector< rbd::MultiBody > &mbs, const SolverData &data) override
 
virtual const Eigen::MatrixXd & Q () const override
 
virtual const Eigen::VectorXd & C () const override
 
- Public Member Functions inherited from tasks::qp::Task
 Task (double weight)
 
virtual ~Task ()
 
virtual double weight () const
 
virtual void weight (double w)
 

Additional Inherited Members

- Protected Member Functions inherited from tasks::qp::SetPointTaskCommon
void computeQC (Eigen::VectorXd &error)
 
- Protected Attributes inherited from tasks::qp::SetPointTaskCommon
HighLevelTask * hlTask_
 
Eigen::VectorXd error_
 

Detailed Description

Deprecated:
Must be replace by TrackingTask

Constructor & Destructor Documentation

◆ PIDTask() [1/2]

tasks::qp::PIDTask::PIDTask ( const std::vector< rbd::MultiBody > &  mbs,
int  robotIndex,
HighLevelTask *  hlTask,
double  P,
double  I,
double  D,
double  weight 
)

◆ PIDTask() [2/2]

tasks::qp::PIDTask::PIDTask ( const std::vector< rbd::MultiBody > &  mbs,
int  robotIndex,
HighLevelTask *  hlTask,
double  P,
double  I,
double  D,
const Eigen::VectorXd &  dimWeight,
double  weight 
)

Member Function Documentation

◆ D() [1/2]

double tasks::qp::PIDTask::D ( ) const

◆ D() [2/2]

void tasks::qp::PIDTask::D ( double  d)

◆ error()

void tasks::qp::PIDTask::error ( const Eigen::VectorXd &  err)

◆ errorD()

void tasks::qp::PIDTask::errorD ( const Eigen::VectorXd &  errD)

◆ errorI()

void tasks::qp::PIDTask::errorI ( const Eigen::VectorXd &  errI)

◆ I() [1/2]

double tasks::qp::PIDTask::I ( ) const

◆ I() [2/2]

void tasks::qp::PIDTask::I ( double  i)

◆ P() [1/2]

double tasks::qp::PIDTask::P ( ) const

◆ P() [2/2]

void tasks::qp::PIDTask::P ( double  p)

◆ update()

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

Implements tasks::qp::Task.

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