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

List of all members.


Public Types
typedef std::vector < boost::shared_ptr< Task > >	task_table_t
typedef std::vector < boost::shared_ptr< Skill > >	skill_table_t
Public Member Functions
Status	parseString (std::string const &yaml_string)
	Parse a YAML document contained in a string.
Status	parseFile (std::string const &yaml_filename)
	Parse a YAML file, specified as a filename.
Status	parseStream (std::istream &yaml_istream)
	Parse a YAML file from a stream.
task_table_t const &	getTaskTable () const
	The task table contains pointers to all task instances ever created by this Factory, in the order that they were encountered in the YAML documents.
skill_table_t const &	getSkillTable () const
	The skill table contains pointers to all skill instances ever created by this Factory, in the order that they were encountered in the YAML documents.
boost::shared_ptr< Task >	findTask (std::string const &name) const
boost::shared_ptr< Skill >	findSkill (std::string const &name) const
ReflectionRegistry *	createRegistry ()
	Create a ReflectionRegistry and populate it with the currently registered task and skill instances.
void	dump (std::ostream &os, std::string const &title, std::string const &prefix) const
	Write a human-readable (hopefully, anyway) description of all skills and tasks contained in the tables.
Static Public Member Functions
static void	setDebugStream (std::ostream *dbg)
template<typename task_subtype>
static void	addTaskType (std::string const &type)
template<typename skill_subtype>
static void	addSkillType (std::string const &type)
static Task *	createTask (std::string const &type, std::string const &name)
static Skill *	createSkill (std::string const &type, std::string const &name)
Protected Types
typedef std::map< std::string, boost::shared_ptr< ShopAPI < Task > > >	task_shop_t
typedef std::map< std::string, boost::shared_ptr< ShopAPI < Skill > > >	skill_shop_t
Protected Attributes
task_table_t	task_table_
skill_table_t	skill_table_
Static Protected Attributes
static std::ostream *	dbg__
static task_shop_t	task_shop__
static skill_shop_t	skill_shop__

Detailed Description

For the moment, we use a hardcoded mapping from type names to subclasses, but it will be really easy to extend this with some sort of plugin approach.

The idea is to call the parseFoo() methods to feed it with task and skill specifications, and then retrieve them using getTaskTable() and/or getSkillTable().

The YAML format is quite simple: you specify a list of dictionaries. When the key is `tasks', then it parses a list of tasks. Similarly, it parses skills when the dictionary key is `skills'. You can mix and match, but beware that tasks referenced by a skill must be defined before they can be used.

For tasks, the specification is again a list of dictionaries. Each one specifies a task. The required dictionary keys are `type' and `name'. All the others get looked up via Task::lookupParameter() and directly specify task parameters.

Skills are very similar, except that dictionary values are handled differently depending on whether they are lists or dictionaries: if they are dictionaries, they are treated as state definitions which define which task goes where in the slots provided by the skill. Otherwise, they are treated as parameter definitions.

     - tasks:
       - type: opspace::PositionTask
         name: eepos
         dt_seconds: 0.002
         kp: [ 100.0 ]
         kd: [  20.0 ]
         maxvel: [ 0.5 ]
         maxacc: [ 1.5 ]
       - type: opspace::PostureTask
         name: posture
         dt_seconds: 0.002
         kp: [ 400.0, 400.0, 400.0, 100.0, 100.0, 100.0, 100.0 ]
         kd: [  40.0,  40.0,  40.0,  20.0,  20.0,  20.0,  20.0 ]
         maxvel: [ 3.1416 ]
         maxacc: [ 6.2832 ]
     - skills:
       - type: opspace::TPSkill
         name: task_posture
	 # dictionaries define task slots
	 default:
	   eepos: eepos
	   posture: posture
	 # key-value pairs define parameters
	 some_param_name: some_param_value

Member Typedef Documentation

typedef std::vector<boost::shared_ptr<Task> > opspace::Factory::task_table_t

Definition at line 116 of file Factory.hpp.

typedef std::vector<boost::shared_ptr<Skill> > opspace::Factory::skill_table_t

Definition at line 117 of file Factory.hpp.

typedef std::map<std::string, boost::shared_ptr<ShopAPI<Task> > > opspace::Factory::task_shop_t [protected]

Definition at line 185 of file Factory.hpp.

typedef std::map<std::string, boost::shared_ptr<ShopAPI<Skill> > > opspace::Factory::skill_shop_t [protected]

Definition at line 186 of file Factory.hpp.

Member Function Documentation

void opspace::Factory::setDebugStream ( std::ostream * dbg ) [static]

Definition at line 65 of file Factory.cpp.