tasks::qp::Task Class Reference

#include <Tasks/QPSolver.h>

Inheritance diagram for tasks::qp::Task:

Public Member Functions
	Task (double weight)
virtual	~Task ()
virtual double	weight () const
virtual void	weight (double w)
virtual std::pair< int, int >	begin () const =0
virtual void	updateNrVars (const std::vector< rbd::MultiBody > &mbs, const SolverData &data)=0
virtual void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const SolverData &data)=0
virtual const Eigen::MatrixXd &	Q () const =0
virtual const Eigen::VectorXd &	C () const =0

Constructor & Destructor Documentation

Task()

tasks::qp::Task::Task ( double  weight )

inline

~Task()

virtual tasks::qp::Task::~Task ( )

inlinevirtual

Member Function Documentation

begin()

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

pure virtual

Implemented in tasks::qp::GripperTorqueTask, tasks::qp::ContactTask, tasks::qp::MultiRobotTransformTask, tasks::qp::MultiCoMTask, tasks::qp::PostureTask, tasks::qp::TorqueTask, tasks::qp::TargetObjectiveTask, and tasks::qp::SetPointTaskCommon.

C()

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

pure virtual

Implemented in tasks::qp::GripperTorqueTask, tasks::qp::ContactTask, tasks::qp::MultiRobotTransformTask, tasks::qp::MultiCoMTask, tasks::qp::PostureTask, tasks::qp::TorqueTask, tasks::qp::TargetObjectiveTask, and tasks::qp::SetPointTaskCommon.

Q()

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

pure virtual

Implemented in tasks::qp::GripperTorqueTask, tasks::qp::ContactTask, tasks::qp::MultiRobotTransformTask, tasks::qp::MultiCoMTask, tasks::qp::PostureTask, tasks::qp::TorqueTask, tasks::qp::TargetObjectiveTask, and tasks::qp::SetPointTaskCommon.

update()

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

pure virtual

Implemented in tasks::qp::GripperTorqueTask, tasks::qp::ContactTask, tasks::qp::MultiRobotTransformTask, tasks::qp::MultiCoMTask, tasks::qp::PostureTask, tasks::qp::TorqueTask, tasks::qp::TargetObjectiveTask, tasks::qp::PIDTask, tasks::qp::TrajectoryTask, tasks::qp::TrackingTask, and tasks::qp::SetPointTask.

updateNrVars()

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

pure virtual

Implemented in tasks::qp::GripperTorqueTask, tasks::qp::ContactTask, tasks::qp::MultiRobotTransformTask, tasks::qp::MultiCoMTask, tasks::qp::PostureTask, tasks::qp::TorqueTask, tasks::qp::TargetObjectiveTask, and tasks::qp::SetPointTaskCommon.

weight() [1/2]

virtual double tasks::qp::Task::weight ( ) const

inlinevirtual

weight() [2/2]

virtual void tasks::qp::Task::weight ( double  w )

inlinevirtual

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

• src/Tasks/QPSolver.h