tasks::qp::PostureTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::PostureTask:

Collaboration diagram for tasks::qp::PostureTask:

Public Member Functions
	PostureTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, std::vector< std::vector< double >> q, double stiffness, double weight)
tasks::PostureTask &	task ()
void	posture (std::vector< std::vector< double >> q)
const std::vector< std::vector< double > >	posture () const
double	stiffness () const
double	damping () const
void	stiffness (double stiffness)
void	gains (double stiffness)
void	gains (double stiffness, double damping)
void	jointsStiffness (const std::vector< rbd::MultiBody > &mbs, const std::vector< JointStiffness > &jsv)
void	jointsGains (const std::vector< rbd::MultiBody > &mbs, const std::vector< JointGains > &jgv)
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
void	refVel (const Eigen::VectorXd &refVel) noexcept
const Eigen::VectorXd &	refVel () const noexcept
void	refAccel (const Eigen::VectorXd &refAccel) noexcept
const Eigen::VectorXd &	refAccel () const noexcept
const Eigen::VectorXd &	dimWeight () const noexcept
void	dimWeight (const Eigen::VectorXd &dimW) noexcept
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

PostureTask()

tasks::qp::PostureTask::PostureTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		std::vector< std::vector< double >>	q,
		double	stiffness,
		double	weight
	)

Member Function Documentation

begin()

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

inlineoverridevirtual

Implements tasks::qp::Task.

C()

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

overridevirtual

Implements tasks::qp::Task.

damping()

double tasks::qp::PostureTask::damping ( ) const

inline

dimWeight() [1/2]

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

inlinenoexcept

dimWeight() [2/2]

void tasks::qp::PostureTask::dimWeight ( const Eigen::VectorXd &  dimW )

inlinenoexcept

eval()

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

(

)

const

gains() [1/2]

void tasks::qp::PostureTask::gains

(

double

stiffness

)

gains() [2/2]

void tasks::qp::PostureTask::gains	(	double	stiffness,
		double	damping
	)

jointsGains()

void tasks::qp::PostureTask::jointsGains	(	const std::vector< rbd::MultiBody > &	mbs,
		const std::vector< JointGains > &	jgv
	)

jointsStiffness()

void tasks::qp::PostureTask::jointsStiffness	(	const std::vector< rbd::MultiBody > &	mbs,
		const std::vector< JointStiffness > &	jsv
	)

posture() [1/2]

const std::vector<std::vector<double> > tasks::qp::PostureTask::posture ( ) const

inline

posture() [2/2]

void tasks::qp::PostureTask::posture ( std::vector< std::vector< double >>  q )

inline

Q()

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

overridevirtual

Implements tasks::qp::Task.

refAccel() [1/2]

const Eigen::VectorXd& tasks::qp::PostureTask::refAccel ( ) const

inlinenoexcept

refAccel() [2/2]

void tasks::qp::PostureTask::refAccel ( const Eigen::VectorXd &  refAccel )

inlinenoexcept

refVel() [1/2]

const Eigen::VectorXd& tasks::qp::PostureTask::refVel ( ) const

inlinenoexcept

refVel() [2/2]

void tasks::qp::PostureTask::refVel ( const Eigen::VectorXd &  refVel )

inlinenoexcept

stiffness() [1/2]

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

inline

stiffness() [2/2]

void tasks::qp::PostureTask::stiffness

(

double

stiffness

)

task()

tasks::PostureTask& tasks::qp::PostureTask::task ( )

inline

update()

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

overridevirtual

Implements tasks::qp::Task.

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

• src/Tasks/QPTasks.h