scl::CTaskComPos Class Reference

#include <CTaskComPos.hpp>

Inheritance diagram for scl::CTaskComPos:

Collaboration diagram for scl::CTaskComPos:

Public Member Functions
virtual bool	computeServo (const SRobotSensors *arg_sensors)
virtual bool	computeModel (const SRobotSensors *arg_sensors)
virtual STaskBase *	getTaskData ()
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
sBool	achievedGoalPos ()
	CTaskComPos ()
virtual	~CTaskComPos ()
virtual bool	init (STaskBase *arg_task_data, CDynamicsBase *arg_dynamics)
virtual void	reset ()
virtual sBool	hasBeenInit ()
virtual sBool	setActivated (sBool arg_activate)
virtual sBool	hasBeenActivated ()

Protected Attributes
sBool	has_been_init_
CDynamicsBase *	dynamics_

Private Attributes
STaskComPos *	data_
Eigen::VectorXd	tmp1
Eigen::VectorXd	tmp2
Eigen::Matrix3d	J_premultiplier_
Eigen::ColPivHouseholderQR < Eigen::Matrix3d >	qr_
sBool	lambda_inv_singular_
Eigen::JacobiSVD< Eigen::Matrix3d >	svd_
Eigen::Matrix3d	singular_values_

Detailed Description

Computes the operational space forces for a single 3-d (x,y,z) center of mass goal point Euclidean task

It computes:

1. The task model (computes, mass, jacobian, inv jacobian, coriolis, centrifugal and gravity matrices/vectors).
2. The task servo (computes the dynamically decoupled task forces and the torques. uses the task model to do so).

Constructor & Destructor Documentation

scl::CTaskComPos::CTaskComPos

(

)

Default constructor : Sets stuff to zero.

virtual scl::CTaskComPos::~CTaskComPos ( )

inlinevirtual

Default destructor : Does nothing.

Member Function Documentation

bool scl::CTaskComPos::achievedGoalPos

(

)

Whether the task has achieved its goal position.

bool scl::CTaskComPos::computeModel ( const SRobotSensors *  arg_sensors )

virtual

Computes the dynamics (task model) Assumes that the data_->model_.gc_model_ has been updated.

Implements scl::CTaskBase.

bool scl::CTaskComPos::computeServo ( const SRobotSensors *  arg_sensors )

virtual

Computes the task torques

Implements scl::CTaskBase.

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

inlinevirtual

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

Reimplemented from scl::CTaskBase.

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

inlinevirtual

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

Reimplemented from scl::CTaskBase.

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

inlinevirtual

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

Reimplemented from scl::CTaskBase.

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

inlinevirtual

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

Reimplemented from scl::CTaskBase.

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

inlinevirtual

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

Reimplemented from scl::CTaskBase.

STaskBase * scl::CTaskComPos::getTaskData ( )

virtual

Return this task controller's task data structure.

Implements scl::CTaskBase.

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

inlinevirtual

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

Reimplemented from scl::CTaskBase.

virtual sBool scl::CTaskBase::hasBeenActivated ( )

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 ( )

inlinevirtualinherited

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

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

virtual

Initializes the task object. Required to set output gc force dofs

Implements scl::CTaskBase.

void scl::CTaskComPos::reset ( )

virtual

Resets the task by removing its data. NOTE : Does not deallocate its data structure

Implements scl::CTaskBase.

virtual sBool scl::CTaskBase::setActivated ( sBool  arg_activate )

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

bool scl::CTaskComPos::setGoalAcc ( const Eigen::VectorXd &  arg_goal )

virtual

Sets the current goal acceleration

Reimplemented from scl::CTaskBase.

bool scl::CTaskComPos::setGoalPos ( const Eigen::VectorXd &  arg_goal )

virtual

Sets the current goal position

Reimplemented from scl::CTaskBase.

bool scl::CTaskComPos::setGoalVel ( const Eigen::VectorXd &  arg_goal )

virtual

Sets the current goal velocity

Reimplemented from scl::CTaskBase.

Member Data Documentation

STaskComPos* scl::CTaskComPos::data_

private

The actual data structure for this computational object

CDynamicsBase* scl::CTaskBase::dynamics_

protectedinherited

A Dynamics model required to compute the task's dynamics

sBool scl::CTaskBase::has_been_init_

protectedinherited

Initialized = All static parameters are set and data structures are up to date.

Set to true in init()

Eigen::Matrix3d scl::CTaskComPos::J_premultiplier_

private

For normalizing the Jacobian

sBool scl::CTaskComPos::lambda_inv_singular_

private

True when the lambda_inv matrix turns singular.

Eigen::ColPivHouseholderQR<Eigen::Matrix3d> scl::CTaskComPos::qr_

private

For inverting the lambda matrix (when it gets singular)

Eigen::JacobiSVD<Eigen::Matrix3d > scl::CTaskComPos::svd_

private

For inverting the operational space inertia matrix near singularities. 3x3 for operational point tasks.

Eigen::VectorXd scl::CTaskComPos::tmp1

private

Temporary variables

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

• /home/samir/Code/control/scl.git/src/scl/control/task/tasks/CTaskComPos.hpp
• /home/samir/Code/control/scl.git/src/scl/control/task/tasks/CTaskComPos.cpp