#include <tvm/Task.h>

Public Member Functions
	Task (FunctionPtr f, constraint::Type t, const task_dynamics::abstract::TaskDynamics &td)

	Task (FunctionPtr f, constraint::Type t, const task_dynamics::abstract::TaskDynamics &td, double rhs)

	Task (FunctionPtr f, constraint::Type t, const task_dynamics::abstract::TaskDynamics &td, const Eigen::VectorXd &rhs)

	Task (FunctionPtr f, constraint::Type t, const task_dynamics::abstract::TaskDynamics &td, double l, double u)

	Task (FunctionPtr f, constraint::Type t, const task_dynamics::abstract::TaskDynamics &td, const Eigen::VectorXd &l, const Eigen::VectorXd &u)

	Task (utils::ProtoTaskEQ proto, const task_dynamics::abstract::TaskDynamics &td)

	Task (utils::ProtoTaskLT proto, const task_dynamics::abstract::TaskDynamics &td)

	Task (utils::ProtoTaskGT proto, const task_dynamics::abstract::TaskDynamics &td)

	Task (utils::ProtoTaskDS proto, const task_dynamics::abstract::TaskDynamics &td)

FunctionPtr	function () const

constraint::Type	type () const

TaskDynamicsPtr	taskDynamics () const

TaskDynamicsPtr	secondBoundTaskDynamics () const

template<typename T , typename TDImpl = typename T::Impl>
std::shared_ptr< TDImpl >	taskDynamics () const

template<typename T , typename TDImpl = typename T::Impl>
std::shared_ptr< TDImpl >	secondBoundTaskDynamics () const

Detailed Description

A task is a triplet (Function, operator, TaskDynamics) where operator is ==, >= or <=

Constructor & Destructor Documentation

◆ Task() [1/9]

tvm::Task::Task	(	FunctionPtr	f,
		constraint::Type	t,
		const task_dynamics::abstract::TaskDynamics &	td
	)

◆ Task() [2/9]

tvm::Task::Task	(	FunctionPtr	f,
		constraint::Type	t,
		const task_dynamics::abstract::TaskDynamics &	td,
		double	rhs
	)

◆ Task() [3/9]

tvm::Task::Task	(	FunctionPtr	f,
		constraint::Type	t,
		const task_dynamics::abstract::TaskDynamics &	td,
		const Eigen::VectorXd &	rhs
	)

◆ Task() [4/9]

tvm::Task::Task	(	FunctionPtr	f,
		constraint::Type	t,
		const task_dynamics::abstract::TaskDynamics &	td,
		double	l,
		double	u
	)

◆ Task() [5/9]

tvm::Task::Task	(	FunctionPtr	f,
		constraint::Type	t,
		const task_dynamics::abstract::TaskDynamics &	td,
		const Eigen::VectorXd &	l,
		const Eigen::VectorXd &	u
	)

◆ Task() [6/9]

tvm::Task::Task	(	utils::ProtoTaskEQ	proto,
		const task_dynamics::abstract::TaskDynamics &	td
	)

◆ Task() [7/9]

tvm::Task::Task	(	utils::ProtoTaskLT	proto,
		const task_dynamics::abstract::TaskDynamics &	td
	)

◆ Task() [8/9]

tvm::Task::Task	(	utils::ProtoTaskGT	proto,
		const task_dynamics::abstract::TaskDynamics &	td
	)

◆ Task() [9/9]

tvm::Task::Task	(	utils::ProtoTaskDS	proto,
		const task_dynamics::abstract::TaskDynamics &	td
	)

Member Function Documentation

◆ function()

FunctionPtr tvm::Task::function ( ) const

◆ secondBoundTaskDynamics() [1/2]

TaskDynamicsPtr tvm::Task::secondBoundTaskDynamics ( ) const

◆ secondBoundTaskDynamics() [2/2]

template<typename T , typename TDImpl >

std::shared_ptr< TDImpl > tvm::Task::secondBoundTaskDynamics

◆ taskDynamics() [1/2]

TaskDynamicsPtr tvm::Task::taskDynamics ( ) const

◆ taskDynamics() [2/2]