tasks::qp::PositionBasedVisServoTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::PositionBasedVisServoTask:

Collaboration diagram for tasks::qp::PositionBasedVisServoTask:

Public Member Functions
	PositionBasedVisServoTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const std::string &bodyName, const sva::PTransformd &X_t_s, const sva::PTransformd &X_b_s=sva::PTransformd::Identity())
tasks::PositionBasedVisServoTask &	task ()
void	error (const sva::PTransformd &X_t_s)
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

PositionBasedVisServoTask()

tasks::qp::PositionBasedVisServoTask::PositionBasedVisServoTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const std::string &	bodyName,
		const sva::PTransformd &	X_t_s,
		const sva::PTransformd &	X_b_s = sva::PTransformd::Identity()
	)

Member Function Documentation

dim()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

error()

void tasks::qp::PositionBasedVisServoTask::error ( const sva::PTransformd &  X_t_s )

inline

eval()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

jac()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

normalAcc()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

speed()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

task()

tasks::PositionBasedVisServoTask& tasks::qp::PositionBasedVisServoTask::task ( )

inline

update()

virtual void tasks::qp::PositionBasedVisServoTask::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:

• src/Tasks/QPTasks.h