#include <STaskComPos.hpp>

Inheritance diagram for scl::STaskComPos:

Collaboration diagram for scl::STaskComPos:

Public Member Functions
	STaskComPos ()

virtual	~STaskComPos ()

virtual bool	initTaskParams ()

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 const std::string &	getType () const

virtual const std::string &	getName () const

virtual bool	hasBeenInit () const

Public Attributes
Eigen::Vector3d	x_

Eigen::Vector3d	dx_

Eigen::Vector3d	ddx_

Eigen::Vector3d	x_goal_

Eigen::Vector3d	dx_goal_

Eigen::Vector3d	ddx_goal_

Eigen::Vector3d	pos_in_parent_

sFloat	spatial_resolution_

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

This is a task to control the position, velocity and acceleration of the center of mass of an articulated body system. The controller operates in Euclidean space, and in the global (origin) frame.

Should the center of mass Jacobian become singular (loses rank k), it will use an svd to compute the n-k'th rank approximation of the control equations.

Constructor & Destructor Documentation

scl::STaskComPos::STaskComPos ( )

Default constructor sets stuff to S_NULL

scl::STaskComPos::~STaskComPos ( )

virtual

Default 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
	)

inherited

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

bool scl::STaskComPos::initTaskParams ( )

virtual

Initializes the task specific data members.

Implements scl::STaskBase.

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

inherited

Sets the parent controller

Member Data Documentation

scl::sUInt scl::STaskBase::dof_task_

inherited

Task space degrees of freedom

Eigen::VectorXd scl::STaskBase::force_gc_

inherited

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_

inherited

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_

inherited

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_

inherited

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_

inherited

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

const SGcModel* scl::STaskBase::gc_model_

inherited

Robot generalized coordinate model

scl::sBool scl::STaskBase::has_been_activated_

inherited

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_

inherited

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_

inherited

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_

inherited

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_

inherited

Task-space mass matrix

std::string scl::SObject::name_

inherited

The object's name

Eigen::MatrixXd scl::STaskBase::null_space_

inherited

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

const SControllerMultiTask* scl::STaskBase::parent_controller_

inherited

The parent controller

sUInt scl::STaskBase::priority_

inherited

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_

inherited

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_

inherited

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

Eigen::VectorXd scl::STaskBase::shared_data_

inherited

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_

inherited

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_

inherited

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

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation