Qontrol::Task Namespace Reference

Task. More...

Classes
class	CartesianAcceleration
	Implementation of a Cartesian Acceleration task. More...
class	CartesianAcceleration< Qontrol::ControlOutput::JointAcceleration >
	\( \boldsymbol{\ddot{q}}^{opt} = \underset{\boldsymbol{\ddot{q}}}{\mathrm{argmin}} || \boldsymbol{\dot{v}}(\boldsymbol{\ddot{q}}) - \boldsymbol{\dot{v}}^{target} ||^2_{SW} \) More...
class	CartesianAcceleration< Qontrol::ControlOutput::JointTorque >
	\( \boldsymbol{\tau}^{opt} = \underset{\boldsymbol{\tau}}{\mathrm{argmin}} || \boldsymbol{\dot{v}}(\boldsymbol{\tau}) - \boldsymbol{\dot{v}}^{target} ||^2_{SW} \) More...
class	CartesianVelocity
	Implementation of a Cartesian velocity task. More...
class	CartesianVelocity< Qontrol::ControlOutput::JointVelocity >
	\( \boldsymbol{\dot{q}}^{opt} = \underset{\boldsymbol{\dot{q}}}{\mathrm{argmin}} || \boldsymbol{v}(\boldsymbol{\dot{q}}) - \boldsymbol{v}^{target} ||^2_{SW} \) More...
class	GenericTask
	Represents a generic task. More...
class	JointAcceleration
	Implemtentation of a joint acceleration task. More...
class	JointAcceleration< Qontrol::ControlOutput::JointAcceleration >
	\( \boldsymbol{\ddot{q}}^{opt} = \underset{\boldsymbol{\ddot{q}}}{\mathrm{argmin}} || \boldsymbol{\ddot{q}} - \boldsymbol{\ddot{q}}^{target} ||^2_{SW} \) More...
class	JointTorque
	Implemtentation of a joint torque task. More...
class	JointTorque< Qontrol::ControlOutput::JointTorque >
	\( \boldsymbol{\tau}^{opt} = \underset{\boldsymbol{\tau}}{\mathrm{argmin}} || \boldsymbol{\tau} - \boldsymbol{\tau}^{target} ||^2_{SW} \) More...
class	JointVelocity
	Implemtentation of a joint velocity task. More...
class	JointVelocity< Qontrol::ControlOutput::JointVelocity >
	\( \boldsymbol{\dot{q}}^{opt} = \underset{\boldsymbol{\dot{q}}}{\mathrm{argmin}} || \boldsymbol{\dot{q}} - \boldsymbol{\dot{q}}^{target} ||^2_{SW} \) More...
class	TaskSet
	Handle all the tasks added to the problem. More...

Detailed Description

Task.

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