Function OpenSoT::operator+(const OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::tasks::Aggregated::Ptr)

Function Documentation

OpenSoT::tasks::Aggregated::Ptr OpenSoT::operator+(const OpenSoT::tasks::Aggregated::TaskPtr task, const OpenSoT::tasks::Aggregated::Ptr aggregated)

operator + takes an aggregated and a task, generates a new Aggregated task containing the new task and all the tasks from the old aggregated.

It also copies the lambda, the weight matrix and the constraints of the old aggregated. In fact, the new aggregated is a copy of the old aggregated, with a new task, and an adapted weight matrix (its size is increased to take into account the new task)

Parameters

  • task – a task pointer pointer

  • aggregated – a pointer to an Aggregated task

Returns

a pointer to a new Aggregated task