#include <tasks.h>

Inheritance diagram for exotica::SamplingTask:

Collaboration diagram for exotica::SamplingTask:

Public Member Functions
	SamplingTask ()=default

virtual	~SamplingTask ()=default

virtual void	Initialize (const std::vector< exotica::Initializer > &inits, std::shared_ptr< PlanningProblem > prob, TaskSpaceVector &Phi)

void	UpdateS ()

void	Update (const TaskSpaceVector &big_Phi)

void	SetGoal (const std::string &task_name, Eigen::VectorXdRefConst goal)

Eigen::VectorXd	GetGoal (const std::string &task_name) const

void	SetRho (const std::string &task_name, const double rho)

double	GetRho (const std::string &task_name) const

Public Member Functions inherited from exotica::Task
	Task ()=default

virtual	~Task ()=default

Public Attributes
Eigen::VectorXd	rho

TaskSpaceVector	y

Eigen::VectorXd	ydiff

TaskSpaceVector	Phi

Eigen::MatrixXd	S

Public Attributes inherited from exotica::Task
TaskMapMap	task_maps

TaskMapVec	tasks

std::vector< TaskIndexing >	indexing

int	length_Phi

int	length_jacobian

int	num_tasks

double	tolerance = 0.0

Additional Inherited Members
Protected Attributes inherited from exotica::Task
std::vector< TaskInitializer >	task_initializers_

Constructor & Destructor Documentation

◆ SamplingTask()

exotica::SamplingTask::SamplingTask ( )

default

◆ ~SamplingTask()

virtual exotica::SamplingTask::~SamplingTask ( )

virtualdefault

Member Function Documentation

◆ GetGoal()

Eigen::VectorXd exotica::SamplingTask::GetGoal ( const std::string & task_name ) const

◆ GetRho()

double exotica::SamplingTask::GetRho ( const std::string & task_name ) const

◆ Initialize()

virtual void exotica::SamplingTask::Initialize	(	const std::vector< exotica::Initializer > &	inits,
		std::shared_ptr< PlanningProblem >	prob,
		TaskSpaceVector &	Phi
	)

virtual

Reimplemented from exotica::Task.

◆ SetGoal()

void exotica::SamplingTask::SetGoal	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal
	)

◆ SetRho()

void exotica::SamplingTask::SetRho	(	const std::string &	task_name,
		const double	rho
	)

◆ Update()

void exotica::SamplingTask::Update ( const TaskSpaceVector & big_Phi )

◆ UpdateS()

void exotica::SamplingTask::UpdateS ( )

Member Data Documentation

◆ Phi

TaskSpaceVector exotica::SamplingTask::Phi

◆ rho

Eigen::VectorXd exotica::SamplingTask::rho

◆ S

Eigen::MatrixXd exotica::SamplingTask::S

◆ y

TaskSpaceVector exotica::SamplingTask::y

◆ ydiff

Eigen::VectorXd exotica::SamplingTask::ydiff

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

/tmp/exotica/exotica_core/include/exotica_core/tasks.h

Public Member Functions

Public Attributes

Additional Inherited Members