tasks::qp::TargetObjectiveTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::TargetObjectiveTask:

Collaboration diagram for tasks::qp::TargetObjectiveTask:

Public Member Functions
	TargetObjectiveTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hlTask, double timeStep, double duration, const Eigen::VectorXd &objDot, double weight)
	TargetObjectiveTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hlTask, double timeStep, double duration, const Eigen::VectorXd &objDot, const Eigen::VectorXd &dimWeight, double weight)
double	duration () const
void	duration (double d)
int	iter () const
void	iter (int i)
int	nrIter () const
void	nrIter (int i)
const Eigen::VectorXd &	objDot () const
void	objDot (const Eigen::VectorXd &o)
const Eigen::VectorXd &	dimWeight () const
void	dimWeight (const Eigen::VectorXd &o)
const Eigen::VectorXd &	phi () const
const Eigen::VectorXd &	psi () const
virtual std::pair< int, int >	begin () const override
virtual void	updateNrVars (const std::vector< rbd::MultiBody > &mbs, const SolverData &data) override
virtual void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, 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)

Constructor & Destructor Documentation

TargetObjectiveTask() [1/2]

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

TargetObjectiveTask() [2/2]

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

Member Function Documentation

begin()

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

inlineoverridevirtual

Implements tasks::qp::Task.

C()

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

overridevirtual

Implements tasks::qp::Task.

dimWeight() [1/2]

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

inline

dimWeight() [2/2]

void tasks::qp::TargetObjectiveTask::dimWeight ( const Eigen::VectorXd &  o )

inline

duration() [1/2]

double tasks::qp::TargetObjectiveTask::duration

(

)

const

duration() [2/2]

void tasks::qp::TargetObjectiveTask::duration

(

double

d

)

iter() [1/2]

int tasks::qp::TargetObjectiveTask::iter ( ) const

inline

iter() [2/2]

void tasks::qp::TargetObjectiveTask::iter ( int  i )

inline

nrIter() [1/2]

int tasks::qp::TargetObjectiveTask::nrIter ( ) const

inline

nrIter() [2/2]

void tasks::qp::TargetObjectiveTask::nrIter ( int  i )

inline

objDot() [1/2]

const Eigen::VectorXd& tasks::qp::TargetObjectiveTask::objDot ( ) const

inline

objDot() [2/2]

void tasks::qp::TargetObjectiveTask::objDot ( const Eigen::VectorXd &  o )

inline

phi()

const Eigen::VectorXd& tasks::qp::TargetObjectiveTask::phi ( ) const

inline

psi()

const Eigen::VectorXd& tasks::qp::TargetObjectiveTask::psi ( ) const

inline

Q()

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

overridevirtual

Implements tasks::qp::Task.

update()

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

overridevirtual

Implements tasks::qp::Task.

updateNrVars()

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

overridevirtual

Implements tasks::qp::Task.

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

• src/Tasks/QPTasks.h