tasks::qp::SurfaceOrientationTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::SurfaceOrientationTask:

Collaboration diagram for tasks::qp::SurfaceOrientationTask:

Public Member Functions
	SurfaceOrientationTask (const std::vector< rbd::MultiBody > &mbs, int robodIndex, const std::string &bodyName, const Eigen::Quaterniond &ori, const sva::PTransformd &X_b_s)
	SurfaceOrientationTask (const std::vector< rbd::MultiBody > &mbs, int robodIndex, const std::string &bodyName, const Eigen::Matrix3d &ori, const sva::PTransformd &X_b_s)
tasks::SurfaceOrientationTask &	task ()
void	orientation (const Eigen::Quaterniond &ori)
void	orientation (const Eigen::Matrix3d &ori)
const Eigen::Matrix3d &	orientation () const
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

SurfaceOrientationTask() [1/2]

tasks::qp::SurfaceOrientationTask::SurfaceOrientationTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robodIndex,
		const std::string &	bodyName,
		const Eigen::Quaterniond &	ori,
		const sva::PTransformd &	X_b_s
	)

SurfaceOrientationTask() [2/2]

tasks::qp::SurfaceOrientationTask::SurfaceOrientationTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robodIndex,
		const std::string &	bodyName,
		const Eigen::Matrix3d &	ori,
		const sva::PTransformd &	X_b_s
	)

Member Function Documentation

dim()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

eval()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

jac()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

normalAcc()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

orientation() [1/3]

const Eigen::Matrix3d& tasks::qp::SurfaceOrientationTask::orientation ( ) const

inline

orientation() [2/3]

void tasks::qp::SurfaceOrientationTask::orientation ( const Eigen::Matrix3d &  ori )

inline

orientation() [3/3]

void tasks::qp::SurfaceOrientationTask::orientation ( const Eigen::Quaterniond &  ori )

inline

speed()

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

overridevirtual

Implements tasks::qp::HighLevelTask.

task()

tasks::SurfaceOrientationTask& tasks::qp::SurfaceOrientationTask::task ( )

inline

update()

virtual void tasks::qp::SurfaceOrientationTask::update ( const std::vector< rbd::MultiBody > &  mbs, const std::vector< rbd::MultiBodyConfig > &  mbcs, 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