tasks::qp::TransformTask Class Reference

TransformTask in world or user frame. More...

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::TransformTask:

Collaboration diagram for tasks::qp::TransformTask:

Public Member Functions
	TransformTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const std::string &bodyName, const sva::PTransformd &X_0_t, const sva::PTransformd &X_b_p=sva::PTransformd::Identity(), const Eigen::Matrix3d &E_0_c=Eigen::Matrix3d::Identity())
void	E_0_c (const Eigen::Matrix3d &E_0_c)
const Eigen::Matrix3d &	E_0_c () const
virtual void	update (const std::vector< rbd::MultiBody > &mb, const std::vector< rbd::MultiBodyConfig > &mbc, const SolverData &data) override
Public Member Functions inherited from tasks::qp::TransformTaskCommon< tasks::TransformTask >
	TransformTaskCommon (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const std::string &bodyName, const sva::PTransformd &X_0_t, const sva::PTransformd &X_b_p=sva::PTransformd::Identity())
tasks::TransformTask &	task ()
void	target (const sva::PTransformd &X_0_t)
const sva::PTransformd &	target () const
void	X_b_p (const sva::PTransformd &X_b_p)
const sva::PTransformd &	X_b_p () const
virtual int	dim () override
virtual const Eigen::MatrixXd &	jac () const override
virtual const Eigen::VectorXd &	eval () const override
virtual const Eigen::VectorXd &	speed () const override
virtual const Eigen::VectorXd &	normalAcc () const override
Public Member Functions inherited from tasks::qp::HighLevelTask
virtual	~HighLevelTask ()
virtual const Eigen::MatrixXd &	jac () const =0
virtual const Eigen::VectorXd &	eval () const =0
virtual const Eigen::VectorXd &	speed () const =0
virtual const Eigen::VectorXd &	normalAcc () const =0

Additional Inherited Members
Protected Attributes inherited from tasks::qp::TransformTaskCommon< tasks::TransformTask >
tasks::TransformTask	tt_
int	robotIndex_

Detailed Description

TransformTask in world or user frame.

Constructor & Destructor Documentation

TransformTask()

tasks::qp::TransformTask::TransformTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const std::string &	bodyName,
		const sva::PTransformd &	X_0_t,
		const sva::PTransformd &	X_b_p = sva::PTransformd::Identity(),
		const Eigen::Matrix3d &	E_0_c = Eigen::Matrix3d::Identity()
	)

Member Function Documentation

E_0_c() [1/2]

const Eigen::Matrix3d& tasks::qp::TransformTask::E_0_c

(

)

const

E_0_c() [2/2]

void tasks::qp::TransformTask::E_0_c

(

const Eigen::Matrix3d &

E_0_c

)

update()

virtual void tasks::qp::TransformTask::update ( const std::vector< rbd::MultiBody > &  mb, const std::vector< rbd::MultiBodyConfig > &  mbc, const SolverData &  data  )

overridevirtual

Implements tasks::qp::HighLevelTask.

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

• src/Tasks/QPTasks.h