| BASE typedef | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | |
| c_i_ | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | protected |
| clone() const override | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inlinevirtual |
| computeActivation(double t) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | |
| control_matrix_double_t typedef | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | |
| control_matrix_t typedef | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | |
| control_state_matrix_double_t typedef | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | |
| control_state_matrix_t typedef | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | |
| controlDerivative(const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, const double &t) override | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inlinevirtual |
| TermBase< STATE_DIM, CONTROL_DIM, double, double >::controlDerivative(const core::StateVector< STATE_DIM, double > &x, const core::ControlVector< CONTROL_DIM, double > &u, const double &t) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | virtual |
| controlSecondDerivative(const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, const double &t) override | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inlinevirtual |
| TermBase< STATE_DIM, CONTROL_DIM, double, double >::controlSecondDerivative(const core::StateVector< STATE_DIM, double > &x, const core::ControlVector< CONTROL_DIM, double > &u, const double &t) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | virtual |
| eval(const Eigen::Matrix< double, STATE_DIM, 1 > &x, const Eigen::Matrix< double, CONTROL_DIM, 1 > &u, const double &t) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | |
| evaluate(const Eigen::Matrix< double, STATE_DIM, 1 > &x, const Eigen::Matrix< double, CONTROL_DIM, 1 > &u, const double &t) override | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inlinevirtual |
| getName() const | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | |
| getReferenceOrientation() const | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inline |
| getReferencePose() const | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inline |
| getReferencePosition() const | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inline |
| getReferenceState() const | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | virtual |
| isActiveAtTime(double t) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | virtual |
| loadConfigFile(const std::string &filename, const std::string &termName, bool verbose=false) override | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inlinevirtual |
| loadTimeActivation(const std::string &filename, const std::string &termName, bool verbose=false) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | |
| name_ | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | protected |
| RBDState typedef | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | |
| setName(const std::string &termName) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | |
| setReferenceOrientation(const Eigen::Matrix< double, 3, 3 > &w_R_ref) | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inline |
| setReferenceOrientation(const Eigen::Quaterniond &w_q_des) | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inline |
| setReferencePosition(Eigen::Matrix< double, 3, 1 > p_ref) | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inline |
| setTimeActivation(std::shared_ptr< ct::core::tpl::ActivationBase< double >> c_i, bool verbose=false) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | |
| state_matrix_double_t typedef | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | |
| state_matrix_t typedef | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | |
| stateControlDerivative(const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, const double &t) override | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inlinevirtual |
| TermBase< STATE_DIM, CONTROL_DIM, double, double >::stateControlDerivative(const core::StateVector< STATE_DIM, double > &x, const core::ControlVector< CONTROL_DIM, double > &u, const double &t) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | virtual |
| stateDerivative(const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, const double &t) override | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inlinevirtual |
| TermBase< STATE_DIM, CONTROL_DIM, double, double >::stateDerivative(const core::StateVector< STATE_DIM, double > &x, const core::ControlVector< CONTROL_DIM, double > &u, const double &t) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | virtual |
| stateSecondDerivative(const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, const double &t) override | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inlinevirtual |
| TermBase< STATE_DIM, CONTROL_DIM, double, double >::stateSecondDerivative(const core::StateVector< STATE_DIM, double > &x, const core::ControlVector< CONTROL_DIM, double > &u, const double &t) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | virtual |
| TermBase(std::string name="Unnamed") | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | |
| TermBase(const TermBase &arg) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | |
| TermTaskspaceGeometricJacobian()=default | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | |
| TermTaskspaceGeometricJacobian(size_t eeInd, const Eigen::Matrix3d &Qpos, const Eigen::Matrix3d &Qrot, const core::StateVector< 3 > &w_pos_des, const Eigen::Quaterniond &w_q_des, const std::string &name="TermTaskSpace") | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inline |
| TermTaskspaceGeometricJacobian(size_t eeInd, const Eigen::Matrix3d &Qpos, const Eigen::Matrix3d &Qrot, const ct::rbd::RigidBodyPose &rbdPose, const std::string &name="TermTaskSpace") | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inline |
| TermTaskspaceGeometricJacobian(size_t eeInd, const Eigen::Matrix3d &Qpos, const Eigen::Matrix3d &Qrot, const core::StateVector< 3 > &w_pos_des, const Eigen::Matrix3d &eulerXyz, const std::string &name="TermTaskSpace") | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inline |
| TermTaskspaceGeometricJacobian(size_t eeInd, const Eigen::Matrix3d &Qpos, const Eigen::Matrix3d &Qrot, const std::string &name="TermTaskSpace") | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inline |
| TermTaskspaceGeometricJacobian(const std::string &configFile, const std::string &termName, bool verbose=false) | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inline |
| TermTaskspaceGeometricJacobian(const TermTaskspaceGeometricJacobian &arg) | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | inline |
| updateReferenceControl(const Eigen::Matrix< double, CONTROL_DIM, 1 > &newRefControl) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | virtual |
| updateReferenceState(const Eigen::Matrix< double, STATE_DIM, 1 > &newRefState) | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | virtual |
| ~TermBase() | ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > | virtual |
| ~TermTaskspaceGeometricJacobian()=default | ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | virtual |
1.8.13