tasks::qp::TrackingTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::TrackingTask:

Collaboration diagram for tasks::qp::TrackingTask:

Public Member Functions
	TrackingTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hlTask, double gainPos, double gainVel, double weight)
	TrackingTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hlTask, double gainPos, double gainVel, const Eigen::VectorXd &dimWeight, double weight)
void	setGains (double gainPos, double gainVel)
void	errorPos (const Eigen::VectorXd &errorPos)
void	errorVel (const Eigen::VectorXd &errorVel)
void	refAccel (const Eigen::VectorXd &refAccel)
virtual void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const SolverData &data) override
Public Member Functions inherited from tasks::qp::SetPointTaskCommon
	SetPointTaskCommon (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hlTask, double weight)
	SetPointTaskCommon (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hlTask, const Eigen::VectorXd &dimWeight, double weight)
virtual std::pair< int, int >	begin () const override
void	dimWeight (const Eigen::VectorXd &dim)
const Eigen::VectorXd &	dimWeight () const
virtual void	updateNrVars (const std::vector< rbd::MultiBody > &mbs, 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)

Additional Inherited Members
Protected Member Functions inherited from tasks::qp::SetPointTaskCommon
void	computeQC (Eigen::VectorXd &error)
Protected Attributes inherited from tasks::qp::SetPointTaskCommon
HighLevelTask *	hlTask_
Eigen::VectorXd	error_

Constructor & Destructor Documentation

TrackingTask() [1/2]

tasks::qp::TrackingTask::TrackingTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		HighLevelTask *	hlTask,
		double	gainPos,
		double	gainVel,
		double	weight
	)

TrackingTask() [2/2]

tasks::qp::TrackingTask::TrackingTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		HighLevelTask *	hlTask,
		double	gainPos,
		double	gainVel,
		const Eigen::VectorXd &	dimWeight,
		double	weight
	)

Member Function Documentation

errorPos()

void tasks::qp::TrackingTask::errorPos

(

const Eigen::VectorXd &

errorPos

)

errorVel()

void tasks::qp::TrackingTask::errorVel

(

const Eigen::VectorXd &

errorVel

)

refAccel()

void tasks::qp::TrackingTask::refAccel

(

const Eigen::VectorXd &

refAccel

)

setGains()

void tasks::qp::TrackingTask::setGains	(	double	gainPos,
		double	gainVel
	)

update()

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