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

TransformTask in surface frame. More...

#include <Tasks/QPTasks.h>

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Public Member Functions

 SurfaceTransformTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const std::string &bodyName, const sva::PTransformd &X_0_t, const sva::PTransformd &X_b_p=sva::PTransformd::Identity())
 
virtual void update (const std::vector< rbd::MultiBody > &mb, const std::vector< rbd::MultiBodyConfig > &mbc, const SolverData &data) override
 
- Public Member Functions inherited from tasks::qp::TransformTaskCommon< tasks::SurfaceTransformTask >
 TransformTaskCommon (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const std::string &bodyName, const sva::PTransformd &X_0_t, const sva::PTransformd &X_b_p=sva::PTransformd::Identity())
 
tasks::SurfaceTransformTask & task ()
 
void target (const sva::PTransformd &X_0_t)
 
const sva::PTransformd & target () const
 
void X_b_p (const sva::PTransformd &X_b_p)
 
const sva::PTransformd & X_b_p () const
 
virtual int dim () 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 ()
 
virtual const Eigen::MatrixXd & jac () const =0
 
virtual const Eigen::VectorXd & eval () const =0
 
virtual const Eigen::VectorXd & speed () const =0
 
virtual const Eigen::VectorXd & normalAcc () const =0
 

Additional Inherited Members

- Protected Attributes inherited from tasks::qp::TransformTaskCommon< tasks::SurfaceTransformTask >
tasks::SurfaceTransformTask tt_
 
int robotIndex_
 

Detailed Description

TransformTask in surface frame.

Constructor & Destructor Documentation

◆ SurfaceTransformTask()

tasks::qp::SurfaceTransformTask::SurfaceTransformTask ( const std::vector< rbd::MultiBody > &  mbs,
int  robotIndex,
const std::string &  bodyName,
const sva::PTransformd &  X_0_t,
const sva::PTransformd &  X_b_p = sva::PTransformd::Identity() 
)

Member Function Documentation

◆ update()

virtual void tasks::qp::SurfaceTransformTask::update ( const std::vector< rbd::MultiBody > &  mb,
const std::vector< rbd::MultiBodyConfig > &  mbc,
const SolverData &  data 
)
overridevirtual

Implements tasks::qp::HighLevelTask.

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