tasks::qp::RelativeDistTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::RelativeDistTask:

Collaboration diagram for tasks::qp::RelativeDistTask:

Public Member Functions
	RelativeDistTask (const std::vector< rbd::MultiBody > &mbs, const int rIndex, const double timestep, tasks::RelativeDistTask::rbInfo &rbi1, tasks::RelativeDistTask::rbInfo &rbi2, const Eigen::Vector3d &u1=Eigen::Vector3d::Zero(), const Eigen::Vector3d &u2=Eigen::Vector3d::Zero())
tasks::RelativeDistTask &	task ()
void	robotPoint (const rbd::MultiBody &mb, const std::string &bName, const Eigen::Vector3d &point)
void	envPoint (const rbd::MultiBody &mb, const std::string &bName, const Eigen::Vector3d &point)
void	vector (const rbd::MultiBody &mb, const std::string &bName, const Eigen::Vector3d &u)
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

RelativeDistTask()

tasks::qp::RelativeDistTask::RelativeDistTask	(	const std::vector< rbd::MultiBody > &	mbs,
		const int	rIndex,
		const double	timestep,
		tasks::RelativeDistTask::rbInfo &	rbi1,
		tasks::RelativeDistTask::rbInfo &	rbi2,
		const Eigen::Vector3d &	u1 = Eigen::Vector3d::Zero(),
		const Eigen::Vector3d &	u2 = Eigen::Vector3d::Zero()
	)

Member Function Documentation

dim()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

envPoint()

void tasks::qp::RelativeDistTask::envPoint ( const rbd::MultiBody &  mb, const std::string &  bName, const Eigen::Vector3d &  point  )

inline

eval()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

jac()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

normalAcc()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

robotPoint()

void tasks::qp::RelativeDistTask::robotPoint ( const rbd::MultiBody &  mb, const std::string &  bName, const Eigen::Vector3d &  point  )

inline

speed()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

task()

tasks::RelativeDistTask& tasks::qp::RelativeDistTask::task ( )

inline

update()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

vector()

void tasks::qp::RelativeDistTask::vector ( const rbd::MultiBody &  mb, const std::string &  bName, const Eigen::Vector3d &  u  )

inline

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

• src/Tasks/QPTasks.h