Stanford Whole-Body Control Framework: opspace::CartPosTask Class Reference

List of all members.


Public Member Functions
	CartPosTask (std::string const &name)
virtual Status	init (Model const &model)
	Abstract, implemented by subclasses in order to initialize the task.
virtual Status	update (Model const &model)
	Abstract, implemented by subclasses in order to compute the current task state, the command acceleration, and the Jacobian.
virtual Status	check (std::string const *param, std::string const &value) const
	Default implementation always returns succes.
void	quickSetup (Vector const &kp, Vector const &kd, Vector const &maxvel, std::string const &name, Vector const &control_point)
Protected Member Functions
taoDNode const *	updateActual (Model const &model)
Protected Attributes
std::string	end_effector_name_
Vector	control_point_
taoDNode const *	end_effector_node_

Detailed Description

Servos a control point, specified with respect to a given end_effector link, to the goal position.

Constructor & Destructor Documentation

opspace::CartPosTask::CartPosTask ( std::string const & name ) [explicit]

Definition at line 403 of file task_library.cpp.

References control_point_, opspace::ParameterReflection::declareParameter(), end_effector_name_, and opspace::PARAMETER_FLAG_NOLOG.

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Member Function Documentation

Status opspace::CartPosTask::init ( Model const & model ) [virtual]

Abstract, implemented by subclasses in order to initialize the task.

This is important for stateful tasks, for instance in order to initialize a trajectory-following behavior. The init() method also gets called when tasks are switched at runtime, so subclasses should NOT assume that init() only gets called once at startup.

Implements opspace::Task.

Definition at line 415 of file task_library.cpp.

References opspace::Task::actual_, control_point_, end_effector_name_, end_effector_node_, opspace::PDTask::initPDTask(), and updateActual().

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Status opspace::CartPosTask::update ( Model const & model ) [virtual]

Abstract, implemented by subclasses in order to compute the current task state, the command acceleration, and the Jacobian.

Given the current joint-space model passed as argument to this method, subclasses have to set the actual_, command_, and jacobian_ fields. These will then get retrieved according to the task hierarchy and assembled into joint torque commands using dynamically consistent nullspace projection.

Note:: Make sure your subclass sets the actual_, command_, and jacobian_ fields in the implementation of this method.

Implements opspace::Task.

Definition at line 432 of file task_library.cpp.

References opspace::Task::actual_, opspace::Task::command_, jspace::Model::computeJacobian(), opspace::PDTask::computePDCommand(), end_effector_node_, jspace::Model::getState(), opspace::Task::jacobian_, and updateActual().

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Status opspace::CartPosTask::check	(	std::string const *	param,
		std::string const &	value
	)			const `[virtual]`

Default implementation always returns succes.

Reimplemented from opspace::ParameterReflection.

Definition at line 452 of file task_library.cpp.

References end_effector_name_, and end_effector_node_.

void opspace::CartPosTask::quickSetup	(	Vector const &	kp,
		Vector const &	kd,
		Vector const &	maxvel,
		std::string const &	name,
		Vector const &	control_point
	)			`[inline]`