tasks::qp::TorqueTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::TorqueTask:

Collaboration diagram for tasks::qp::TorqueTask:

Public Member Functions
	TorqueTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const TorqueBound &tb, double weight)
	TorqueTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const TorqueBound &tb, const Eigen::VectorXd &jointSelect, double weight)
	TorqueTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const TorqueBound &tb, const std::string &efName, double weight)
	TorqueTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const TorqueBound &tb, const TorqueDBound &tdb, double dt, double weight)
	TorqueTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const TorqueBound &tb, const TorqueDBound &tdb, double dt, const Eigen::VectorXd &jointSelect, double weight)
	TorqueTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const TorqueBound &tb, const TorqueDBound &tdb, double dt, const std::string &efName, double weight)
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 std::pair< int, int >	begin () const override
virtual const Eigen::MatrixXd &	Q () const override
virtual const Eigen::VectorXd &	C () const override
virtual const Eigen::VectorXd &	jointSelect () const
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

TorqueTask() [1/6]

tasks::qp::TorqueTask::TorqueTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const TorqueBound &	tb,
		double	weight
	)

TorqueTask() [2/6]

tasks::qp::TorqueTask::TorqueTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const TorqueBound &	tb,
		const Eigen::VectorXd &	jointSelect,
		double	weight
	)

TorqueTask() [3/6]

tasks::qp::TorqueTask::TorqueTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const TorqueBound &	tb,
		const std::string &	efName,
		double	weight
	)

TorqueTask() [4/6]

tasks::qp::TorqueTask::TorqueTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const TorqueBound &	tb,
		const TorqueDBound &	tdb,
		double	dt,
		double	weight
	)

TorqueTask() [5/6]

tasks::qp::TorqueTask::TorqueTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const TorqueBound &	tb,
		const TorqueDBound &	tdb,
		double	dt,
		const Eigen::VectorXd &	jointSelect,
		double	weight
	)

TorqueTask() [6/6]

tasks::qp::TorqueTask::TorqueTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const TorqueBound &	tb,
		const TorqueDBound &	tdb,
		double	dt,
		const std::string &	efName,
		double	weight
	)

Member Function Documentation

begin()

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

inlineoverridevirtual

Implements tasks::qp::Task.

C()

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

inlineoverridevirtual

Implements tasks::qp::Task.

jointSelect()

virtual const Eigen::VectorXd& tasks::qp::TorqueTask::jointSelect ( ) const

inlinevirtual

Q()

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

inlineoverridevirtual

Implements tasks::qp::Task.

update()

virtual void tasks::qp::TorqueTask::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::TorqueTask::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