opspace::DraftPIDTask Class Reference

#include <task_library.hpp>

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List of all members.

Public Member Functions
	DraftPIDTask (std::string const &name)
virtual Status	check (double const *param, double value) const
	Default implementation always returns succes.
virtual Status	check (Vector const *param, Vector const &value) const
	Verifies that kp, kd, and maxvel are non-negative.
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 void	dbg (std::ostream &os, std::string const &title, std::string const &prefix) const
Protected Member Functions
Status	initDraftPIDTask (Vector const &initpos)
Status	computeDraftPIDCommand (Vector const &curpos, Vector const &curvel, Vector &command)
Protected Attributes
double	dt_seconds_
Vector	ki_
Vector	errsum_
Vector	limitpos_
Vector	limitvel_
Vector	triggerpos_

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Detailed Description

Definition at line 134 of file task_library.hpp.

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Constructor & Destructor Documentation

opspace::DraftPIDTask::DraftPIDTask

(

std::string const &

name

)

[explicit]

Definition at line 207 of file task_library.cpp.

References opspace::ParameterReflection::declareParameter(), dt_seconds_, errsum_, ki_, limitpos_, limitvel_, opspace::PARAMETER_FLAG_NOLOG, and triggerpos_.

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Member Function Documentation

Status opspace::DraftPIDTask::check	(	double const *	param,
		double	value
	)			const [virtual]

Default implementation always returns succes.

Reimplemented from opspace::ParameterReflection.

Definition at line 221 of file task_library.cpp.

References dt_seconds_.

Status opspace::DraftPIDTask::check	(	Vector const *	param,
		Vector const &	value
	)			const [virtual]

Verifies that kp, kd, and maxvel are non-negative.

If initialized, also verifies the vector dimension for kp, kd, maxvel, goalpos, and goalvel.

Returns:

Failure if any of the mentioned checks fail, and success otherwise.

Reimplemented from opspace::PDTask.

Definition at line 233 of file task_library.cpp.

References errsum_, opspace::PDTask::goalpos_, opspace::PDTask::initialized_, ki_, limitpos_, limitvel_, and triggerpos_.

Status opspace::DraftPIDTask::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 367 of file task_library.cpp.

References opspace::Task::actual_, jspace::Model::getNDOF(), jspace::Model::getState(), initDraftPIDTask(), and opspace::Task::jacobian_.

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Status opspace::DraftPIDTask::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 376 of file task_library.cpp.

References opspace::Task::actual_, opspace::Task::command_, computeDraftPIDCommand(), and jspace::Model::getState().

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

Reimplemented from opspace::Task.

Definition at line 386 of file task_library.cpp.

References opspace::PDTask::errpos_, errsum_, opspace::ParameterReflection::instance_name_, ki_, jspace::pretty_print(), and triggerpos_.

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Status opspace::DraftPIDTask::initDraftPIDTask

(

Vector const &

initpos

)

[protected]

Definition at line 258 of file task_library.cpp.

References dt_seconds_, errsum_, opspace::PDTask::initPDTask(), ki_, limitpos_, limitvel_, and triggerpos_.

Referenced by init().

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Status opspace::DraftPIDTask::computeDraftPIDCommand	(	Vector const &	curpos,
		Vector const &	curvel,
		Vector &	command
	)			[protected]

Definition at line 318 of file task_library.cpp.

References opspace::PDTask::computePDCommand(), dt_seconds_, opspace::PDTask::errpos_, errsum_, opspace::PDTask::errvel_, ki_, limitpos_, limitvel_, and triggerpos_.

Referenced by update().

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Member Data Documentation

double opspace::DraftPIDTask::dt_seconds_ [protected]

Definition at line 157 of file task_library.hpp.

Referenced by check(), computeDraftPIDCommand(), DraftPIDTask(), and initDraftPIDTask().

Vector opspace::DraftPIDTask::ki_ [protected]

Definition at line 158 of file task_library.hpp.

Referenced by check(), computeDraftPIDCommand(), dbg(), DraftPIDTask(), and initDraftPIDTask().

Vector opspace::DraftPIDTask::errsum_ [protected]

Definition at line 159 of file task_library.hpp.

Referenced by check(), computeDraftPIDCommand(), dbg(), DraftPIDTask(), and initDraftPIDTask().

Vector opspace::DraftPIDTask::limitpos_ [protected]

Definition at line 160 of file task_library.hpp.

Referenced by check(), computeDraftPIDCommand(), DraftPIDTask(), and initDraftPIDTask().

Vector opspace::DraftPIDTask::limitvel_ [protected]

Definition at line 161 of file task_library.hpp.

Referenced by check(), computeDraftPIDCommand(), DraftPIDTask(), and initDraftPIDTask().

Vector opspace::DraftPIDTask::triggerpos_ [protected]

Definition at line 162 of file task_library.hpp.

Referenced by check(), computeDraftPIDCommand(), dbg(), DraftPIDTask(), and initDraftPIDTask().

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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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