Tasks  1.8.3
Public Member Functions | List of all members
tasks::qp::VectorOrientationTask Class Reference

#include <Tasks/QPTasks.h>

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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.

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