scl::CTaskOpPosContactForce Class Reference

#include <CTaskOpPosContactForce.hpp>

Inheritance diagram for scl::CTaskOpPosContactForce:

Collaboration diagram for scl::CTaskOpPosContactForce:

Public Member Functions
virtual bool	init (STaskBase *arg_task_data, CDynamicsBase *arg_dynamics)
virtual STaskBase *	getTaskData ()
virtual void	reset ()
virtual bool	computeServo (const SRobotSensors *arg_sensors)
virtual bool	computeModel (const SRobotSensors *arg_sensors)
	CTaskOpPosContactForce ()
virtual	~CTaskOpPosContactForce ()
void	setGoal (const Eigen::VectorXd &arg_goal)
void	setGoalVel (const Eigen::VectorXd &arg_goal)
void	setGoalAcc (const Eigen::VectorXd &arg_goal)
sBool	achievedGoalPos ()
virtual bool	setGoalPos (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
virtual sBool	hasBeenInit ()
virtual sBool	setActivated (sBool arg_activate)
virtual sBool	hasBeenActivated ()

Protected Attributes
sBool	has_been_init_
CDynamicsBase *	dynamics_

Private Attributes
STaskOpPosContactForce *	data_
Eigen::VectorXd	tmp1
Eigen::VectorXd	tmp2
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) 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::CTaskOpPosContactForce::CTaskOpPosContactForce

(

)

Default constructor : Does nothing

virtual scl::CTaskOpPosContactForce::~CTaskOpPosContactForce ( )

inlinevirtual

Default destructor : Does nothing.

Member Function Documentation

bool scl::CTaskOpPosContactForce::achievedGoalPos

(

)

Whether the task has achieved its goal position.

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

virtual

Computes the task torques

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::CTaskBase::getGoalAcc ( Eigen::VectorXd &  arg_goal ) const

inlinevirtualinherited

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

inlinevirtualinherited

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

inlinevirtualinherited

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

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::CTaskOpPosContactForce::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::CTaskOpPosContactForce::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::CTaskOpPosContactForce::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

void scl::CTaskOpPosContactForce::setGoal ( const Eigen::VectorXd &  arg_goal )

inline

Sets the current goal position

void scl::CTaskOpPosContactForce::setGoalAcc ( const Eigen::VectorXd &  arg_goal )

inlinevirtual

Sets the current goal acceleration

Reimplemented from scl::CTaskBase.

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

inlinevirtualinherited

Sets 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.

void scl::CTaskOpPosContactForce::setGoalVel ( const Eigen::VectorXd &  arg_goal )

inlinevirtual

Sets the current goal velocity

Reimplemented from scl::CTaskBase.

Member Data Documentation

STaskOpPosContactForce* scl::CTaskOpPosContactForce::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()

sBool scl::CTaskOpPosContactForce::lambda_inv_singular_

private

True when the lambda_inv matrix turns singular.

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

private

For inverting the lambda matrix (when it gets singular)

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

private

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

Eigen::VectorXd scl::CTaskOpPosContactForce::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/CTaskOpPosContactForce.hpp
• /home/samir/Code/control/scl.git/src/scl/control/task/tasks/CTaskOpPosContactForce.cpp