#include <STaskBase.hpp>

Inheritance diagram for scl::STaskBase:

Collaboration diagram for scl::STaskBase:

Public Member Functions
	STaskBase ()

virtual	~STaskBase ()

bool	init (const std::string &arg_name, const std::string &arg_type, const sUInt arg_priority, const scl::sUInt arg_task_dof, const SRobotParsed arg_robot_ds, const SGcModel arg_gc_model, const Eigen::VectorXd &arg_kp, const Eigen::VectorXd &arg_kv, const Eigen::VectorXd &arg_ka, const Eigen::VectorXd &arg_ki, const Eigen::VectorXd &arg_ftask_max, const Eigen::VectorXd &arg_ftask_min, const std::vector< scl::sString2 > &arg_nonstd_params)

bool	setParentController (const SControllerMultiTask *arg_parent)

virtual bool	initTaskParams ()=0

virtual const std::string &	getType () const

virtual const std::string &	getName () const

virtual bool	hasBeenInit () const

Public Attributes
const SControllerMultiTask *	parent_controller_

std::string	type_task_

scl::sBool	has_been_activated_

scl::sBool	has_control_null_space_

sUInt	priority_

scl::sUInt	dof_task_

const SRobotParsed *	robot_

const SGcModel *	gc_model_

Eigen::MatrixXd	J_

Eigen::MatrixXd	J_6_

Eigen::MatrixXd	J_dyn_inv_

Eigen::MatrixXd	null_space_

Eigen::MatrixXd	M_task_

Eigen::MatrixXd	M_task_inv_

Eigen::MatrixXd	force_task_cc_

Eigen::MatrixXd	force_task_grav_

Eigen::VectorXd	force_task_

Eigen::VectorXd	force_task_max_

Eigen::VectorXd	force_task_min_

Eigen::VectorXd	force_gc_

Eigen::MatrixXd	range_space_

Eigen::VectorXd	kp_

Eigen::VectorXd	kv_

Eigen::VectorXd	ka_

Eigen::VectorXd	ki_

std::vector< sString2 >	task_nonstd_params_

Eigen::VectorXd	shared_data_

std::string	name_

sBool	has_been_init_

Protected Attributes
std::string	type_

Detailed Description

Contains all the data required to compute a task

A task computes forces/torques in any arbitrary space.

For instance an Euclidean task would do so in Euclidean space. A joint space task would do so in joint space. Any arbitrary space works as long as it can be mapped to the output joint space..

NOTE : YOU CAN NOT USE THIS TASK DATA STRUCTURE DIRECTLY. You must subclass it, re-implement the function: virtual bool initTaskParams() to parse all the custom parameters (from the xml file) stored in task_nonstd_params_. The function must then return true

Constructor & Destructor Documentation

scl::STaskBase::STaskBase ( )

Constructor

virtual scl::STaskBase::~STaskBase ( )

inlinevirtual

Destructor : Does nothing

Member Function Documentation

virtual const std::string& scl::SObject::getName ( ) const

inlinevirtualinherited

Get the object's type

virtual const std::string& scl::SObject::getType ( ) const

inlinevirtualinherited

Get the object's type

virtual bool scl::SObject::hasBeenInit ( ) const

inlinevirtualinherited

Get the object's type

bool scl::STaskBase::init	(	const std::string &	arg_name,
		const std::string &	arg_type,
		const sUInt	arg_priority,
		const scl::sUInt	arg_task_dof,
		const SRobotParsed *	arg_robot_ds,
		const SGcModel *	arg_gc_model,
		const Eigen::VectorXd &	arg_kp,
		const Eigen::VectorXd &	arg_kv,
		const Eigen::VectorXd &	arg_ka,
		const Eigen::VectorXd &	arg_ki,
		const Eigen::VectorXd &	arg_ftask_max,
		const Eigen::VectorXd &	arg_ftask_min,
		const std::vector< scl::sString2 > &	arg_nonstd_params
	)

Initialization function

NOTE : This function also activates the task.

Parameters

arg_task_dof	0 task dof means a gc task. Ie. full dofs
arg_nonstd_params	These are ignored during STaskBase initialization. However, subclasses may choose to use them and/or require various values

virtual bool scl::STaskBase::initTaskParams ( )

pure virtual

Processes the task's non standard parameters, which the init() function stores in the task_nonstd_params_.

This function is called by init() and must be implemented by all subclasses. Else it will be impossible to initialize the task. Ie. init() will always return false.

Implemented in scl::STaskOpPosPIDA1OrderInfTime, scl::STaskOpPos, scl::STaskOpPosContactForce, scl::STaskComPos, scl::STaskParsedData, scl::STaskGc, scl::STaskGcLimitCentering, scl::STaskGcSet, and scl::STaskNullSpaceDamping.

bool scl::STaskBase::setParentController ( const SControllerMultiTask * arg_parent )

Sets the parent controller

Member Data Documentation

scl::sUInt scl::STaskBase::dof_task_

Task space degrees of freedom

Eigen::VectorXd scl::STaskBase::force_gc_

Generalized coordinate forces (usually joint torques) : Computed by : the task-servo = J' * f Used by : the robot-servo to calculate overall generalized coordinate force

Eigen::VectorXd scl::STaskBase::force_task_

Task space forces Computed by : the task-servo Used by : the task-servo to compute the force_gc_

Eigen::MatrixXd scl::STaskBase::force_task_cc_

Task-space centrifugal/coriolis force vector Controls cc forces in a subspace of the entire gc space so that the operational point experience no cc forces. Other points, however, do.

Eigen::MatrixXd scl::STaskBase::force_task_grav_

Task-space gravity force vector. Controls gravity in a subspace of the entire gc space so that the operational point is massless. Other points experience gravity.

Eigen::VectorXd scl::STaskBase::force_task_max_

Upper and lower limits of task-space forces (Why separate : Consider muscles which can only pull, not push)

const SGcModel* scl::STaskBase::gc_model_

Robot generalized coordinate model

scl::sBool scl::STaskBase::has_been_activated_

Whether the task is active or inactive Default = false. True after init()

sBool scl::SObject::has_been_init_

inherited

Whether the object is ready for use

scl::sBool scl::STaskBase::has_control_null_space_

Is control task. This variable controls whether the controller computes remaining null spaces for lower level tasks or not. If it is true, the lower level task null spaces are not computed, potentially improving performance substantially.

Settings: True : Task dof < Robot dof [Default] False : Task dof == Robot dof [Must enable manually in init]

Eigen::MatrixXd scl::STaskBase::J_

The computed task space Jacobian matrices. Used for velocities. Note that we compute the generalized inverse (the Jacobian is usually not full rank) without inverting the jacobian itself.

Eigen::VectorXd scl::STaskBase::kp_

Gains (scalar if same for different dimensions; vector if different for different dimensions) kp = position, kv = velocity, ka = acceleration ki = integrated position error (to fix steady-state errors).

Computed by : None. These are constants. Used by : The task-servo to calculate task forces

Eigen::MatrixXd scl::STaskBase::M_task_

Task-space mass matrix

std::string scl::SObject::name_

inherited

The object's name

Eigen::MatrixXd scl::STaskBase::null_space_

The task's null space. Used to compute the range space of lower priority tasks.

const SControllerMultiTask* scl::STaskBase::parent_controller_

The parent controller

sUInt scl::STaskBase::priority_

The task's priority. Important to determine its range space. Lower is better. 0 is best. -1 is NULL.

Eigen::MatrixXd scl::STaskBase::range_space_

Range space of the task : Computed by : the robot-servo to calculate overall generalized coordinate force Used by : the robot-servo to calculate overall generalized coordinate force

const SRobotParsed* scl::STaskBase::robot_

Robot model. Not a const because it could use the branching representation's iterator

Eigen::VectorXd scl::STaskBase::shared_data_

This may be used by any shared module in scl that wants to communicate arbitrary information to a STaskBase subclass

std::vector<sString2> scl::STaskBase::task_nonstd_params_

A set of additional options that may be used by users to initialize this specific task. These typically go above and beyond the standard options.

Eg.The parent link and the pos in parent, which are required by op point tasks but not by gc tasks. These will be stored like: task_options_[0].data_[0] = "parent_link"; task_options_[0].data_[1] = "base"; task_options_[1].data_[0] = "pos_in_parent"; task_options_[1].data_[1] = "0.0 0.0 0.0"; task_options_[2].data_[0] = "my_new_arbitrary_option"; task_options_[2].data_[1] = "8080";

std::string scl::SObject::type_

protectedinherited

The object's type. Should only be set by the constructor

std::string scl::STaskBase::type_task_

The type of the task

The documentation for this class was generated from the following files:

/home/samir/Code/control/scl.git/src/scl/control/task/data_structs/STaskBase.hpp
/home/samir/Code/control/scl.git/src/scl/control/task/data_structs/STaskBase.cpp

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation