Class MinimizeVariable

Defined in File MinimizeVariable.h

Inheritance Relationships

Base Type

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

Class Documentation

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

Public Types

typedef std::shared_ptr<MinimizeVariable> Ptr

Public Functions

MinimizeVariable(std::string task_id, const AffineHelper &variable)

bool setReference(const Eigen::VectorXd &ref)

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

void getReference(Eigen::VectorXd &ref)