scl::CTaskGcLimitCentering::CTaskGcLimitCentering |
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Default constructor : Does nothing
virtual scl::CTaskGcLimitCentering::~CTaskGcLimitCentering |
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inlinevirtual |
Default destructor : Does nothing.
bool scl::CTaskGcLimitCentering::achievedGoalPos |
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Whether the task has achieved its goal position.
bool scl::CTaskGcLimitCentering::computeModel |
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const SRobotSensors * |
arg_sensors | ) |
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virtual |
Sets the null space for the next level to zero. Ie. any task below this one in the hierarchy is ignored.
Implements scl::CTaskBase.
bool scl::CTaskGcLimitCentering::computeServo |
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const SRobotSensors * |
arg_sensors | ) |
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virtual |
Computes the gc forces that resist gc velocity
Implements scl::CTaskBase.
virtual bool scl::CTaskBase::getAcc |
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Eigen::VectorXd & |
arg_acc | ) |
const |
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inlinevirtualinherited |
virtual bool scl::CTaskBase::getGoalAcc |
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Eigen::VectorXd & |
arg_goal | ) |
const |
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inlinevirtualinherited |
virtual bool scl::CTaskGcLimitCentering::getGoalPos |
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Eigen::VectorXd & |
arg_goal | ) |
const |
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inlinevirtual |
Gets the current goal position. Returns false if not supported by task.
Reimplemented from scl::CTaskBase.
virtual bool scl::CTaskBase::getGoalVel |
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Eigen::VectorXd & |
arg_goal | ) |
const |
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inlinevirtualinherited |
virtual bool scl::CTaskGcLimitCentering::getPos |
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Eigen::VectorXd & |
arg_pos | ) |
const |
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inlinevirtual |
Gets the current position. Returns false if not supported by task.
Reimplemented from scl::CTaskBase.
STaskBase * scl::CTaskGcLimitCentering::getTaskData |
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virtual |
Return this task controller's task data structure.
Implements scl::CTaskBase.
virtual bool scl::CTaskBase::getVel |
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Eigen::VectorXd & |
arg_vel | ) |
const |
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inlinevirtualinherited |
virtual sBool scl::CTaskBase::hasBeenActivated |
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inlinevirtualinherited |
Activated = All dynamic parameters and data structures are up to date and task is actively contributing to a controller.
virtual sBool scl::CTaskBase::hasBeenInit |
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inlinevirtualinherited |
Initialized = All static parameters are set and data structures are up to date. Ready to contribute to a controller.
Initializes the task object. Required to set output gc force dofs
Implements scl::CTaskBase.
void scl::CTaskGcLimitCentering::reset |
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Resets the task by removing its data. NOTE : Does not deallocate its data structure
Implements scl::CTaskBase.
virtual sBool scl::CTaskBase::setActivated |
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sBool |
arg_activate | ) |
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inlinevirtualinherited |
Activated = All dynamic parameters and data structures are up to date and task is actively contributing to a controller.
Set to true/false during runtime to activate/deactivate task.
Returns : success/failure
virtual bool scl::CTaskBase::setGoalAcc |
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const Eigen::VectorXd & |
arg_goal | ) |
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inlinevirtualinherited |
bool scl::CTaskGcLimitCentering::setGoalPos |
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const Eigen::VectorXd & |
arg_goal | ) |
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virtual |
virtual bool scl::CTaskBase::setGoalVel |
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const Eigen::VectorXd & |
arg_goal | ) |
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inlinevirtualinherited |
A Dynamics model required to compute the task's dynamics
sBool scl::CTaskBase::has_been_init_ |
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protectedinherited |
Initialized = All static parameters are set and data structures are up to date.
Set to true in init()
The documentation for this class was generated from the following files:
- /home/samir/Code/control/scl.git/src/scl/control/task/tasks/CTaskGcLimitCentering.hpp
- /home/samir/Code/control/scl.git/src/scl/control/task/tasks/CTaskGcLimitCentering.cpp