#include <tasks.h>

Inheritance diagram for exotica::SamplingTask:

Public Member Functions
Eigen::VectorXd	GetGoal (const std::string &task_name) const

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

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

	SamplingTask ()=default

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

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

void	Update (const TaskSpaceVector &big_Phi)

void	UpdateS ()

virtual	~SamplingTask ()=default

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

virtual	~Task ()=default

Public Attributes
TaskSpaceVector	Phi

Eigen::VectorXd	rho

Eigen::MatrixXd	S

TaskSpaceVector	y

Eigen::VectorXd	ydiff

Public Attributes inherited from exotica::Task
std::vector< TaskIndexing >	indexing

int	length_jacobian

int	length_Phi

int	num_tasks

TaskMapMap	task_maps

TaskMapVec	tasks

double	tolerance = 0.0

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

Detailed Description

Definition at line 157 of file tasks.h.

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

Definition at line 585 of file tasks.cpp.

◆ GetRho()

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

Definition at line 597 of file tasks.cpp.

◆ Initialize()

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

virtual

Reimplemented from exotica::Task.

Definition at line 494 of file tasks.cpp.

◆ SetGoal()

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

Definition at line 557 of file tasks.cpp.

◆ SetRho()

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

Definition at line 571 of file tasks.cpp.

◆ Update()

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

Definition at line 545 of file tasks.cpp.

◆ UpdateS()

void exotica::SamplingTask::UpdateS ( )

Definition at line 533 of file tasks.cpp.

Member Data Documentation

◆ Phi

TaskSpaceVector exotica::SamplingTask::Phi

Definition at line 175 of file tasks.h.

◆ rho

Eigen::VectorXd exotica::SamplingTask::rho

Definition at line 172 of file tasks.h.

◆ S

Eigen::MatrixXd exotica::SamplingTask::S

Definition at line 176 of file tasks.h.

◆ y

TaskSpaceVector exotica::SamplingTask::y

Definition at line 173 of file tasks.h.

◆ ydiff

Eigen::VectorXd exotica::SamplingTask::ydiff

Definition at line 174 of file tasks.h.

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

Public Member Functions

Public Attributes

Additional Inherited Members