tasks::qp::PositionTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::PositionTask:

Collaboration diagram for tasks::qp::PositionTask:

Public Member Functions
	PositionTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const std::string &bodyName, const Eigen::Vector3d &pos, const Eigen::Vector3d &bodyPoint=Eigen::Vector3d::Zero())
tasks::PositionTask &	task ()
void	position (const Eigen::Vector3d &pos)
const Eigen::Vector3d &	position () const
void	bodyPoint (const Eigen::Vector3d &point)
const Eigen::Vector3d &	bodyPoint () const
virtual int	dim () override
virtual void	update (const std::vector< rbd::MultiBody > &mb, const std::vector< rbd::MultiBodyConfig > &mbc, 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

PositionTask()

tasks::qp::PositionTask::PositionTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const std::string &	bodyName,
		const Eigen::Vector3d &	pos,
		const Eigen::Vector3d &	bodyPoint = Eigen::Vector3d::Zero()
	)

Member Function Documentation

bodyPoint() [1/2]

const Eigen::Vector3d& tasks::qp::PositionTask::bodyPoint ( ) const

inline

bodyPoint() [2/2]

void tasks::qp::PositionTask::bodyPoint ( const Eigen::Vector3d &  point )

inline

dim()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

eval()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

jac()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

normalAcc()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

position() [1/2]

const Eigen::Vector3d& tasks::qp::PositionTask::position ( ) const

inline

position() [2/2]

void tasks::qp::PositionTask::position ( const Eigen::Vector3d &  pos )

inline

speed()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

task()

tasks::PositionTask& tasks::qp::PositionTask::task ( )

inline

update()

virtual void tasks::qp::PositionTask::update ( const std::vector< rbd::MultiBody > &  mb, const std::vector< rbd::MultiBodyConfig > &  mbc, const SolverData &  data  )

overridevirtual

Implements tasks::qp::HighLevelTask.

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

• src/Tasks/QPTasks.h