Class AffineTask

Defined in File AffineUtils.h

Inheritance Relationships

Base Type

public OpenSoT::Task< Eigen::MatrixXd, Eigen::VectorXd > (Template Class Task)

Class Documentation

class AffineTask : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>

Public Types

typedef std::shared_ptr<AffineTask> Ptr

Public Functions

AffineTask(const OpenSoT::tasks::Aggregated::TaskPtr &task, const AffineHelper &var)

virtual void _update(): Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

~AffineTask()

inline OpenSoT::tasks::Aggregated::TaskPtr &getTask()

Public Static Functions

static AffineTask::Ptr toAffine(const OpenSoT::tasks::Aggregated::TaskPtr &task, const AffineHelper &var)