Function OpenSoT::operator*(const Eigen::MatrixXd&, OpenSoT::tasks::Aggregated::TaskPtr)

Defined in File AutoStack.h

Function Documentation

OpenSoT::tasks::Aggregated::TaskPtr OpenSoT::operator*(const Eigen::MatrixXd &W, OpenSoT::tasks::Aggregated::TaskPtr task)

operator * takes a weight matrix and a task, apply the weight to the task NOTE: the weight is set taking into account the one already set: Wfinal = W*Woriginal

Parameters

W – weight matrix
task – a task

Returns

a task ptr