Inheritance diagram for scl::CTaskGc:

Collaboration diagram for scl::CTaskGc:

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

sBool	achievedGoalPos ()

	CTaskGc ()

virtual	~CTaskGc ()

virtual bool	init (STaskBase arg_task_data, CDynamicsBase arg_dynamics)

bool	setFlagCompensateForGravity (const bool arg_grav_enabled)

virtual void	reset ()

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

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

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

virtual sBool	hasBeenInit ()

virtual sBool	setActivated (sBool arg_activate)

virtual sBool	hasBeenActivated ()

Protected Attributes
sBool	has_been_init_

CDynamicsBase *	dynamics_

Private Attributes
STaskGc *	data_

Constructor & Destructor Documentation

scl::CTaskGc::CTaskGc ( )

Default constructor : Does nothing

virtual scl::CTaskGc::~CTaskGc ( )

inlinevirtual

Default destructor : Does nothing.

Member Function Documentation

bool scl::CTaskGc::achievedGoalPos ( )

Whether the task has achieved its goal position.

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

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::CTaskGc::computeServo ( const SRobotSensors * arg_sensors )

virtual

Computes the gc forces that resist gc velocity

Implements scl::CTaskBase.

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

inlinevirtualinherited

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

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

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

inlinevirtualinherited

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

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

STaskBase * scl::CTaskGc::getTaskData ( )

virtual

Return this task controller's task data structure.

Implements scl::CTaskBase.

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

inlinevirtualinherited

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 ( )

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::CTaskGc::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::CTaskGc::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::CTaskGc::setGoalAcc ( const Eigen::VectorXd & arg_goal )

virtual

Sets the current goal acceleration

Reimplemented from scl::CTaskBase.

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

virtual

Sets the current goal position

Reimplemented from scl::CTaskBase.

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

virtual

Sets the current goal velocity

Reimplemented from scl::CTaskBase.

Member Data Documentation

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()

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

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

Public Member Functions

Protected Attributes

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation