tasks::qp::VectorOrientationTask Class Reference

#include <Tasks/QPTasks.h>

Inheritance diagram for tasks::qp::VectorOrientationTask:

Collaboration diagram for tasks::qp::VectorOrientationTask:

Public Member Functions
	VectorOrientationTask (const std::vector< rbd::MultiBody > &mbs, int robotIndex, const std::string &bodyName, const Eigen::Vector3d &bodyVector, const Eigen::Vector3d &targetVector)
tasks::VectorOrientationTask &	task ()
void	bodyVector (const Eigen::Vector3d &vector)
const Eigen::Vector3d &	bodyVector () const
void	target (const Eigen::Vector3d &vector)
const Eigen::Vector3d &	target () const
const Eigen::Vector3d &	actual () const
virtual int	dim () override
virtual void	update (const std::vector< rbd::MultiBody > &mbs, const std::vector< rbd::MultiBodyConfig > &mbcs, const SolverData &data) 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 ()

Constructor & Destructor Documentation

VectorOrientationTask()

tasks::qp::VectorOrientationTask::VectorOrientationTask	(	const std::vector< rbd::MultiBody > &	mbs,
		int	robotIndex,
		const std::string &	bodyName,
		const Eigen::Vector3d &	bodyVector,
		const Eigen::Vector3d &	targetVector
	)

Member Function Documentation

actual()

const Eigen::Vector3d& tasks::qp::VectorOrientationTask::actual ( ) const

inline

bodyVector() [1/2]

const Eigen::Vector3d& tasks::qp::VectorOrientationTask::bodyVector ( ) const

inline

bodyVector() [2/2]

void tasks::qp::VectorOrientationTask::bodyVector ( const Eigen::Vector3d &  vector )

inline

dim()

virtual int tasks::qp::VectorOrientationTask::dim ( )

overridevirtual

Implements tasks::qp::HighLevelTask.

eval()

virtual const Eigen::VectorXd& tasks::qp::VectorOrientationTask::eval ( ) const

overridevirtual

Implements tasks::qp::HighLevelTask.

jac()

virtual const Eigen::MatrixXd& tasks::qp::VectorOrientationTask::jac ( ) const

overridevirtual

Implements tasks::qp::HighLevelTask.

normalAcc()

virtual const Eigen::VectorXd& tasks::qp::VectorOrientationTask::normalAcc ( ) const

overridevirtual

Implements tasks::qp::HighLevelTask.

speed()

virtual const Eigen::VectorXd& tasks::qp::VectorOrientationTask::speed ( ) const

overridevirtual

Implements tasks::qp::HighLevelTask.

target() [1/2]

const Eigen::Vector3d& tasks::qp::VectorOrientationTask::target ( ) const

inline

target() [2/2]

void tasks::qp::VectorOrientationTask::target ( const Eigen::Vector3d &  vector )

inline

task()

tasks::VectorOrientationTask& tasks::qp::VectorOrientationTask::task ( )

inline

update()

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