Class GenericLPTask

Defined in File GenericLPTask.h

Inheritance Relationships

Base Type

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

Class Documentation

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

The GenericLPTask class implements a task where the A and b matrix are zeros and c can be updated outside the task itself, the task has the generic form:

c’x

Public Types

typedef std::shared_ptr<GenericLPTask> Ptr

Public Functions

GenericLPTask(const std::string &task_id, const Eigen::VectorXd &c)

GenericLPTask constructor.

Parameters

task_id – name of the task
c – vector

GenericLPTask(const std::string &task_id, const Eigen::VectorXd &c, const AffineHelper &var)

GenericLPTask constructor.

Parameters

task_id – name of the task
c – vector
var – variable

~GenericLPTask()

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

bool setc(const Eigen::VectorXd &c)

setc update the c of the task

Parameters: c – vector
Returns: false if c.size() != b.size()