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

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::TrajectoryTask:
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Public Member Functions

 TrajectoryTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, HighLevelTask *hlTask, double gainPos, double gainVel, double weight)
 
 TrajectoryTask (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 setGains (const Eigen::VectorXd &stiffness, const Eigen::VectorXd &damping)
 
void stiffness (double gainPos)
 
void stiffness (const Eigen::VectorXd &stiffness)
 
const Eigen::VectorXd & stiffness () const
 
void damping (double gainVel)
 
void damping (const Eigen::VectorXd &damping)
 
const Eigen::VectorXd & damping () const
 
void refVel (const Eigen::VectorXd &refVel)
 
const Eigen::VectorXd & refVel () const
 
void refAccel (const Eigen::VectorXd &refAccel)
 
const Eigen::VectorXd & refAccel () const
 
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

◆ TrajectoryTask() [1/2]

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

◆ TrajectoryTask() [2/2]

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

Member Function Documentation

◆ damping() [1/3]

const Eigen::VectorXd& tasks::qp::TrajectoryTask::damping ( ) const

◆ damping() [2/3]

void tasks::qp::TrajectoryTask::damping ( const Eigen::VectorXd &  damping)

◆ damping() [3/3]

void tasks::qp::TrajectoryTask::damping ( double  gainVel)

◆ refAccel() [1/2]

const Eigen::VectorXd& tasks::qp::TrajectoryTask::refAccel ( ) const

◆ refAccel() [2/2]

void tasks::qp::TrajectoryTask::refAccel ( const Eigen::VectorXd &  refAccel)

◆ refVel() [1/2]

const Eigen::VectorXd& tasks::qp::TrajectoryTask::refVel ( ) const

◆ refVel() [2/2]

void tasks::qp::TrajectoryTask::refVel ( const Eigen::VectorXd &  refVel)

◆ setGains() [1/2]

void tasks::qp::TrajectoryTask::setGains ( const Eigen::VectorXd &  stiffness,
const Eigen::VectorXd &  damping 
)

◆ setGains() [2/2]

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

◆ stiffness() [1/3]

const Eigen::VectorXd& tasks::qp::TrajectoryTask::stiffness ( ) const

◆ stiffness() [2/3]

void tasks::qp::TrajectoryTask::stiffness ( const Eigen::VectorXd &  stiffness)

◆ stiffness() [3/3]

void tasks::qp::TrajectoryTask::stiffness ( double  gainPos)

◆ update()

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

Implements tasks::qp::Task.

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