Class GenericTask

Inheritance Relationships

Base Type

Class Documentation

class GenericTask : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>

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

||Ax - b|| + c’x

Public Types

typedef std::shared_ptr<GenericTask> Ptr

Public Functions

GenericTask(const std::string &task_id, const Eigen::MatrixXd &A, const Eigen::VectorXd &b)

GenericTask constructor.

Parameters

  • task_id – name of the task

  • A – matrix

  • b – vector

GenericTask(const std::string &task_id, const Eigen::MatrixXd &A, const Eigen::VectorXd &b, const AffineHelper &var)

GenericTask constructor.

Parameters

  • task_id – name of the task

  • A – matrix

  • b – vector

  • var – variable

~GenericTask()
virtual void _update()

Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

bool setA(const Eigen::MatrixXd &A)

setA update the A matrix of the task

Parameters

A – matrix

Returns

false if A.rows() != b.size()

bool setb(const Eigen::VectorXd &b)

setb update the b matrix of the task

Parameters

b – vector

Returns

false if b.size() != A.rows()

bool setAb(const Eigen::MatrixXd &A, const Eigen::VectorXd &b)

setAb update A and b of the task

Parameters

  • A – matrix

  • b – vector

Returns

false if A.rows() != b.size() NOTE: this is NOT RT-SAFE!

bool setc(const Eigen::VectorXd &c)

setc update the c of the task

Parameters

c – vector

Returns

false if c.size() != b.size()

void setHessianType(const HessianType hessian_type)

setHessianType

Parameters

hessian_type – enum HessianType { HST_ZERO, < Hessian is zero matrix (i.e. LP formulation). HST_IDENTITY, < Hessian is identity matrix. HST_POSDEF, < Hessian is (strictly) positive definite. HST_POSDEF_NULLSPACE, < Hessian is positive definite on null space of active bounds/constraints. HST_SEMIDEF, < Hessian is positive semi-definite. HST_UNKNOWN < Hessian type is unknown. };