opspace::JPosTrjTask Class Reference

Joint-space posture trajectory task. More...

#include <task_library.hpp>

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List of all members.

Public Member Functions
	JPosTrjTask (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.
void	quickSetup (double dt_seconds, double kp, double kd, double maxvel, double maxacc)

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Detailed Description

Joint-space posture trajectory task.

Servos the joint position towards a desired posture using acceleration-bounded trajectories.

Parameters: inherited from TrajectoryTask.

Definition at line 361 of file task_library.hpp.

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Constructor & Destructor Documentation

opspace::JPosTrjTask::JPosTrjTask

(

std::string const &

name

)

[explicit]

Definition at line 822 of file task_library.cpp.

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Member Function Documentation

Status opspace::JPosTrjTask::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 829 of file task_library.cpp.

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

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Status opspace::JPosTrjTask::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 838 of file task_library.cpp.

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

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void opspace::JPosTrjTask::quickSetup	(	double	dt_seconds,
		double	kp,
		double	kd,
		double	maxvel,
		double	maxacc
	)

Todo:

Maybe move this (or something similar) to the superclass?

Definition at line 846 of file task_library.cpp.

References opspace::TrajectoryTask::dt_seconds_, opspace::PDTask::kd_, opspace::PDTask::kp_, opspace::TrajectoryTask::maxacc_, and opspace::PDTask::maxvel_.

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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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