opspace::CartPosTrjTask Class Reference

Cartesian position trajectory task. More...

#include <task_library.hpp>

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List of all members.

Public Member Functions
	CartPosTrjTask (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.
Protected Member Functions
taoDNode const *	updateActual (Model const &model)
Protected Attributes
int	end_effector_id_
Vector	control_point_

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Detailed Description

Cartesian position trajectory task.

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

Note:

This task is always three dimensional.

Parameters (see also TrajectoryTask for inherited parameters):

• end_effector_id (integer): identifier of the end effector link
• control_point (vector): reference point wrt end effector frame

Definition at line 337 of file task_library.hpp.

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Constructor & Destructor Documentation

opspace::CartPosTrjTask::CartPosTrjTask

(

std::string const &

name

)

[explicit]

Definition at line 758 of file task_library.cpp.

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

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Member Function Documentation

Status opspace::CartPosTrjTask::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 769 of file task_library.cpp.

References opspace::Task::actual_, control_point_, end_effector_id_, opspace::TrajectoryTask::initTrajectoryTask(), and updateActual().

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Status opspace::CartPosTrjTask::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 785 of file task_library.cpp.

References opspace::Task::actual_, opspace::Task::command_, jspace::Model::computeJacobian(), opspace::TrajectoryTask::computeTrajectoryCommand(), jspace::Model::getState(), opspace::Task::jacobian_, and updateActual().

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taoDNode const * opspace::CartPosTrjTask::updateActual

(

Model const &

model

)

[protected]

Definition at line 805 of file task_library.cpp.

References opspace::Task::actual_, jspace::Model::computeGlobalFrame(), control_point_, end_effector_id_, and jspace::Model::getNode().

Referenced by init(), and update().

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Member Data Documentation

int opspace::CartPosTrjTask::end_effector_id_ [protected]

Definition at line 347 of file task_library.hpp.

Referenced by CartPosTrjTask(), init(), and updateActual().

Vector opspace::CartPosTrjTask::control_point_ [protected]

Definition at line 348 of file task_library.hpp.

Referenced by CartPosTrjTask(), init(), and updateActual().

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

• opspace/include/opspace/task_library.hpp
• opspace/src/task_library.cpp

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