#include <tasks.h>

Inheritance diagram for exotica::Task:

[legend]

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

	Task ()=default

virtual	~Task ()=default

Public Attributes
std::vector< TaskIndexing >	indexing

int	length_jacobian

int	length_Phi

int	num_tasks

TaskMapMap	task_maps

TaskMapVec	tasks

double	tolerance = 0.0

Protected Attributes
std::vector< TaskInitializer >	task_initializers_

Detailed Description

Definition at line 55 of file tasks.h.

Constructor & Destructor Documentation

◆ Task()

exotica::Task::Task ( )

default

◆ ~Task()

virtual exotica::Task::~Task ( )

virtualdefault

Member Function Documentation

◆ Initialize()

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

virtual

Reimplemented in exotica::SamplingTask, exotica::EndPoseTask, and exotica::TimeIndexedTask.

Definition at line 37 of file tasks.cpp.

Member Data Documentation

◆ indexing

std::vector<TaskIndexing> exotica::Task::indexing

Definition at line 64 of file tasks.h.

◆ length_jacobian

int exotica::Task::length_jacobian

Definition at line 67 of file tasks.h.

◆ length_Phi

int exotica::Task::length_Phi

Definition at line 66 of file tasks.h.

◆ num_tasks

int exotica::Task::num_tasks

Definition at line 68 of file tasks.h.

◆ task_initializers_

std::vector<TaskInitializer> exotica::Task::task_initializers_

protected

Definition at line 72 of file tasks.h.

◆ task_maps

TaskMapMap exotica::Task::task_maps

Definition at line 62 of file tasks.h.

◆ tasks

TaskMapVec exotica::Task::tasks

Definition at line 63 of file tasks.h.

◆ tolerance

double exotica::Task::tolerance = 0.0

Definition at line 69 of file tasks.h.

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

Public Member Functions

Public Attributes

Protected Attributes