#include <CTaskBase.hpp>

Inheritance diagram for scl::CTaskBase:

Collaboration diagram for scl::CTaskBase:

Public Member Functions
virtual bool	computeServo (const SRobotSensors *arg_sensors)=0

virtual bool	computeModel (const SRobotSensors *arg_sensors)=0

virtual STaskBase *	getTaskData ()=0

virtual bool	setGoalPos (const Eigen::VectorXd &arg_goal)

virtual bool	setGoalVel (const Eigen::VectorXd &arg_goal)

virtual bool	setGoalAcc (const Eigen::VectorXd &arg_goal)

virtual bool	getGoalPos (Eigen::VectorXd &arg_goal) const

virtual bool	getGoalVel (Eigen::VectorXd &arg_goal) const

virtual bool	getGoalAcc (Eigen::VectorXd &arg_goal) const

virtual bool	getPos (Eigen::VectorXd &arg_pos) const

virtual bool	getVel (Eigen::VectorXd &arg_vel) const

virtual bool	getAcc (Eigen::VectorXd &arg_acc) const

	CTaskBase ()

virtual	~CTaskBase ()

virtual bool	init (STaskBase arg_task_data, CDynamicsBase arg_dynamics)=0

virtual void	reset ()=0

virtual sBool	hasBeenInit ()

virtual sBool	setActivated (sBool arg_activate)

virtual sBool	hasBeenActivated ()

Protected Attributes
sBool	has_been_init_

CDynamicsBase *	dynamics_

Detailed Description

Container class to encapsulate a task model and a task servo.

NOTE : Virtual class. Subclass and implement functions that compute the task forces.

Constructor & Destructor Documentation

scl::CTaskBase::CTaskBase ( )

inline

Constructor does nothing

virtual scl::CTaskBase::~CTaskBase ( )

inlinevirtual

Destructor does nothing

Member Function Documentation

virtual bool scl::CTaskBase::computeModel ( const SRobotSensors * arg_sensors )

pure virtual

Computes the dynamics (task model)

Implemented in scl::CTaskOpPosNoGravity, scl::CTaskOpPosContactForce, scl::CTaskOpPosPIDA1OrderInfTime, scl::CTaskNULL, scl::CTaskOpPos, scl::CTaskGcSet, scl::CTaskComPos, scl::CTaskGcLimitCentering, scl::CTaskNullSpaceDamping, and scl::CTaskGc.

virtual bool scl::CTaskBase::computeServo ( const SRobotSensors * arg_sensors )

pure virtual

Computes the task torques

Implemented in scl::CTaskOpPosNoGravity, scl::CTaskOpPosContactForce, scl::CTaskOpPosPIDA1OrderInfTime, scl::CTaskNULL, scl::CTaskOpPos, scl::CTaskGcSet, scl::CTaskComPos, scl::CTaskGcLimitCentering, scl::CTaskNullSpaceDamping, and scl::CTaskGc.

virtual bool scl::CTaskBase::getAcc ( Eigen::VectorXd & arg_acc ) const

inlinevirtual

Gets the current acceleration. Returns false if not supported by task.

Reimplemented in scl::CTaskOpPosPIDA1OrderInfTime, scl::CTaskOpPos, and scl::CTaskComPos.

virtual bool scl::CTaskBase::getGoalAcc ( Eigen::VectorXd & arg_goal ) const

inlinevirtual

Gets the current goal acceleration. Returns false if not supported by task.

Reimplemented in scl::CTaskOpPosPIDA1OrderInfTime, scl::CTaskOpPos, scl::CTaskGcSet, scl::CTaskComPos, and scl::CTaskGc.

virtual bool scl::CTaskBase::getGoalPos ( Eigen::VectorXd & arg_goal ) const

inlinevirtual

Gets the current goal position. Returns false if not supported by task.

Reimplemented in scl::CTaskOpPosPIDA1OrderInfTime, scl::CTaskOpPos, scl::CTaskGcSet, scl::CTaskComPos, scl::CTaskGcLimitCentering, and scl::CTaskGc.

virtual bool scl::CTaskBase::getGoalVel ( Eigen::VectorXd & arg_goal ) const

inlinevirtual

Gets the current goal velocity. Returns false if not supported by task.

Reimplemented in scl::CTaskOpPosPIDA1OrderInfTime, scl::CTaskOpPos, scl::CTaskGcSet, scl::CTaskComPos, and scl::CTaskGc.

virtual bool scl::CTaskBase::getPos ( Eigen::VectorXd & arg_pos ) const

inlinevirtual

Gets the current position. Returns false if not supported by task.

Reimplemented in scl::CTaskOpPosPIDA1OrderInfTime, scl::CTaskOpPos, scl::CTaskComPos, and scl::CTaskGcLimitCentering.

virtual STaskBase* scl::CTaskBase::getTaskData ( )

pure virtual

Return this task controller's task data structure. Use it responsibly! NOTE : Use dynamic casts whenever you downcast the data. And try not to downcast very often. Perf hit.

Implemented in scl::CTaskOpPosPIDA1OrderInfTime, scl::CTaskOpPos, scl::CTaskGcSet, scl::CTaskOpPosNoGravity, scl::CTaskComPos, scl::CTaskOpPosContactForce, scl::CTaskNULL, scl::CTaskNullSpaceDamping, scl::CTaskGc, and scl::CTaskGcLimitCentering.

virtual bool scl::CTaskBase::getVel ( Eigen::VectorXd & arg_vel ) const

inlinevirtual

Gets the current velocity. Returns false if not supported by task.

Reimplemented in scl::CTaskOpPosPIDA1OrderInfTime, scl::CTaskOpPos, and scl::CTaskComPos.

virtual sBool scl::CTaskBase::hasBeenActivated ( )

inlinevirtual

Activated = All dynamic parameters and data structures are up to date and task is actively contributing to a controller.

virtual sBool scl::CTaskBase::hasBeenInit ( )

inlinevirtual

Initialized = All static parameters are set and data structures are up to date. Ready to contribute to a controller.

virtual bool scl::CTaskBase::init	(	STaskBase *	arg_task_data,
		CDynamicsBase *	arg_dynamics
	)

pure virtual

Initializes the task object. Create a subclass of STaskBase if your task requires more data than the defaults in STaskBase provide. This function should set has_been_init_ to true

Implemented in scl::CTaskOpPosPIDA1OrderInfTime, scl::CTaskOpPos, scl::CTaskComPos, scl::CTaskGcSet, scl::CTaskGc, scl::CTaskNullSpaceDamping, scl::CTaskOpPosContactForce, scl::CTaskOpPosNoGravity, scl::CTaskNULL, and scl::CTaskGcLimitCentering.