opspace::ClassicTaskPostureController Class Reference

#include <ClassicTaskPostureController.hpp>

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List of all members.

Public Member Functions
	ClassicTaskPostureController (std::string const &name)
virtual Status	init (Model const &model)
virtual Status	computeCommand (Model const &model, Skill &skill, Vector &gamma)
virtual void	dbg (std::ostream &os, std::string const &title, std::string const &prefix) const
Protected Attributes
Vector	jpos_
Vector	jvel_
Vector	gamma_
Vector	fstar_
Matrix	lambda_
Matrix	jbar_
Matrix	nullspace_

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Detailed Description

Definition at line 31 of file ClassicTaskPostureController.hpp.

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Constructor & Destructor Documentation

opspace::ClassicTaskPostureController::ClassicTaskPostureController

(

std::string const &

name

)

[explicit]

Definition at line 37 of file ClassicTaskPostureController.cpp.

References opspace::ParameterReflection::declareParameter(), fstar_, gamma_, jbar_, jpos_, jvel_, lambda_, and nullspace_.

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Member Function Documentation

Status opspace::ClassicTaskPostureController::init

(

Model const &

model

)

[virtual]

Implements opspace::Controller.

Definition at line 51 of file ClassicTaskPostureController.cpp.

Status opspace::ClassicTaskPostureController::computeCommand	(	Model const &	model,
		Skill &	skill,
		Vector &	gamma
	)			[virtual]

Implements opspace::Controller.

Definition at line 58 of file ClassicTaskPostureController.cpp.

References fstar_, gamma_, opspace::Task::getCommand(), jspace::Model::getGravity(), jspace::Model::getInverseMassInertia(), opspace::Task::getJacobian(), jspace::Model::getNDOF(), opspace::Task::getSigmaThreshold(), jspace::Model::getState(), opspace::Skill::getTaskTable(), jbar_, jpos_, jvel_, lambda_, ndof, nullspace_, opspace::pseudoInverse(), and opspace::Skill::update().

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void opspace::ClassicTaskPostureController::dbg	(	std::ostream &	os,
		std::string const &	title,
		std::string const &	prefix
	)			const [virtual]

Reimplemented from opspace::Controller.

Definition at line 117 of file ClassicTaskPostureController.cpp.

References fstar_, gamma_, jbar_, jpos_, jvel_, lambda_, and jspace::pretty_print().

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Member Data Documentation

Vector opspace::ClassicTaskPostureController::jpos_ [protected]

Definition at line 48 of file ClassicTaskPostureController.hpp.

Referenced by ClassicTaskPostureController(), computeCommand(), and dbg().

Vector opspace::ClassicTaskPostureController::jvel_ [protected]

Definition at line 49 of file ClassicTaskPostureController.hpp.

Referenced by ClassicTaskPostureController(), computeCommand(), and dbg().

Vector opspace::ClassicTaskPostureController::gamma_ [protected]

Definition at line 50 of file ClassicTaskPostureController.hpp.

Referenced by ClassicTaskPostureController(), computeCommand(), and dbg().

Vector opspace::ClassicTaskPostureController::fstar_ [protected]

Definition at line 51 of file ClassicTaskPostureController.hpp.

Referenced by ClassicTaskPostureController(), computeCommand(), and dbg().

Matrix opspace::ClassicTaskPostureController::lambda_ [protected]

Definition at line 52 of file ClassicTaskPostureController.hpp.

Referenced by ClassicTaskPostureController(), computeCommand(), and dbg().

Matrix opspace::ClassicTaskPostureController::jbar_ [protected]

Definition at line 53 of file ClassicTaskPostureController.hpp.

Referenced by ClassicTaskPostureController(), computeCommand(), and dbg().

Matrix opspace::ClassicTaskPostureController::nullspace_ [protected]

Definition at line 54 of file ClassicTaskPostureController.hpp.

Referenced by ClassicTaskPostureController(), and computeCommand().

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

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

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