Public Member Functions | Protected Attributes | List of all members
tasks::qp::TransformTaskCommon< transform_task_t > Class Template Reference

#include <Tasks/QPTasks.h>

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Public Member Functions

 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())
 
transform_task_t & 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 void update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const SolverData &data)=0
 

Protected Attributes

transform_task_t tt_
 
int robotIndex_
 

Constructor & Destructor Documentation

◆ TransformTaskCommon()

template<typename transform_task_t >
tasks::qp::TransformTaskCommon< transform_task_t >::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() 
)
inline

Member Function Documentation

◆ dim()

template<typename transform_task_t >
virtual int tasks::qp::TransformTaskCommon< transform_task_t >::dim ( )
inlineoverridevirtual

Implements tasks::qp::HighLevelTask.

◆ eval()

template<typename transform_task_t >
virtual const Eigen::VectorXd& tasks::qp::TransformTaskCommon< transform_task_t >::eval ( ) const
inlineoverridevirtual

Implements tasks::qp::HighLevelTask.

◆ jac()

template<typename transform_task_t >
virtual const Eigen::MatrixXd& tasks::qp::TransformTaskCommon< transform_task_t >::jac ( ) const
inlineoverridevirtual

Implements tasks::qp::HighLevelTask.

◆ normalAcc()

template<typename transform_task_t >
virtual const Eigen::VectorXd& tasks::qp::TransformTaskCommon< transform_task_t >::normalAcc ( ) const
inlineoverridevirtual

Implements tasks::qp::HighLevelTask.

◆ speed()

template<typename transform_task_t >
virtual const Eigen::VectorXd& tasks::qp::TransformTaskCommon< transform_task_t >::speed ( ) const
inlineoverridevirtual

Implements tasks::qp::HighLevelTask.

◆ target() [1/2]

template<typename transform_task_t >
const sva::PTransformd& tasks::qp::TransformTaskCommon< transform_task_t >::target ( ) const
inline

◆ target() [2/2]

template<typename transform_task_t >
void tasks::qp::TransformTaskCommon< transform_task_t >::target ( const sva::PTransformd &  X_0_t)
inline

◆ task()

template<typename transform_task_t >
transform_task_t& tasks::qp::TransformTaskCommon< transform_task_t >::task ( )
inline

◆ X_b_p() [1/2]

template<typename transform_task_t >
const sva::PTransformd& tasks::qp::TransformTaskCommon< transform_task_t >::X_b_p ( ) const
inline

◆ X_b_p() [2/2]

template<typename transform_task_t >
void tasks::qp::TransformTaskCommon< transform_task_t >::X_b_p ( const sva::PTransformd &  X_b_p)
inline

Member Data Documentation

◆ robotIndex_

template<typename transform_task_t >
int tasks::qp::TransformTaskCommon< transform_task_t >::robotIndex_
protected

◆ tt_

template<typename transform_task_t >
transform_task_t tasks::qp::TransformTaskCommon< transform_task_t >::tt_
protected
The documentation for this class was generated from the following file: