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

#include <Tasks/QPTasks.h>

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Public Member Functions

 SetPointTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hlTask, double stiffness, double weight)
 
 SetPointTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hlTask, double stiffness, const Eigen::VectorXd &dimWeight, double weight)
 
double stiffness () const
 
void stiffness (double stiffness)
 
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_
 

Constructor & Destructor Documentation

◆ SetPointTask() [1/2]

tasks::qp::SetPointTask::SetPointTask ( const std::vector< rbd::MultiBody > &  mbs,
int  robotIndex,
HighLevelTask *  hlTask,
double  stiffness,
double  weight 
)

◆ SetPointTask() [2/2]

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

Member Function Documentation

◆ stiffness() [1/2]

double tasks::qp::SetPointTask::stiffness ( ) const
inline

◆ stiffness() [2/2]

void tasks::qp::SetPointTask::stiffness ( double  stiffness)

◆ update()

virtual void tasks::qp::SetPointTask::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: