tasks::qp::TransformTaskCommon< transform_task_t > Class Template Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::TransformTaskCommon< transform_task_t >:

Collaboration diagram for tasks::qp::TransformTaskCommon< transform_task_t >:

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

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

• src/Tasks/QPTasks.h