tasks::qp::SetPointTaskCommon Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::SetPointTaskCommon:

Collaboration diagram for tasks::qp::SetPointTaskCommon:

Public Member Functions
	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)
virtual void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const SolverData &data)=0

Protected Member Functions
void	computeQC (Eigen::VectorXd &error)

Protected Attributes
HighLevelTask *	hlTask_
Eigen::VectorXd	error_

Constructor & Destructor Documentation

SetPointTaskCommon() [1/2]

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

SetPointTaskCommon() [2/2]

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

Member Function Documentation

begin()

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

inlineoverridevirtual

Implements tasks::qp::Task.

C()

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

overridevirtual

Implements tasks::qp::Task.

computeQC()

void tasks::qp::SetPointTaskCommon::computeQC ( Eigen::VectorXd &  error )

protected

dimWeight() [1/2]

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

inline

dimWeight() [2/2]

void tasks::qp::SetPointTaskCommon::dimWeight

(

const Eigen::VectorXd &

dim

)

Q()

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

overridevirtual

Implements tasks::qp::Task.

updateNrVars()

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

overridevirtual

Implements tasks::qp::Task.

Member Data Documentation

error_

Eigen::VectorXd tasks::qp::SetPointTaskCommon::error_

protected

hlTask_

HighLevelTask* tasks::qp::SetPointTaskCommon::hlTask_

protected

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

• src/Tasks/QPTasks.h