opspace::JointLimitTask Class Reference

#include <task_library.hpp>

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List of all members.

Public Member Functions
	JointLimitTask (std::string const &name)
virtual	~JointLimitTask ()
virtual Status	check (Vector const *param, Vector const &value) const
	Default implementation always returns succes.
virtual Status	check (double const *param, double const &value) const
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
void	updateState (Model const &model)
Protected Attributes
Vector	upper_stop_deg_
Vector	upper_trigger_deg_
Vector	lower_stop_deg_
Vector	lower_trigger_deg_
double	dt_seconds_
Vector	maxvel_
Vector	maxacc_
Vector	kp_
Vector	kd_
Vector	upper_stop_
Vector	upper_trigger_
Vector	lower_stop_
Vector	lower_trigger_
std::vector< TypeIOTGCursor * >	cursor_
Vector	goal_

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Detailed Description

Definition at line 377 of file task_library.hpp.

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Constructor & Destructor Documentation

opspace::JointLimitTask::JointLimitTask

(

std::string const &

name

)

[explicit]

Definition at line 857 of file task_library.cpp.

References opspace::ParameterReflection::declareParameter(), dt_seconds_, kd_, kp_, lower_stop_deg_, lower_trigger_deg_, maxacc_, maxvel_, opspace::PARAMETER_FLAG_NOLOG, upper_stop_deg_, and upper_trigger_deg_.

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opspace::JointLimitTask::~JointLimitTask

(

)

[virtual]

Definition at line 874 of file task_library.cpp.

References cursor_.

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Member Function Documentation

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

Default implementation always returns succes.

Reimplemented from opspace::ParameterReflection.

Definition at line 883 of file task_library.cpp.

References cursor_, kd_, kp_, maxacc_, and maxvel_.

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

Definition at line 904 of file task_library.cpp.

References dt_seconds_.

Status opspace::JointLimitTask::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 914 of file task_library.cpp.

References cursor_, dt_seconds_, jspace::Model::getNDOF(), goal_, opspace::Task::jacobian_, kd_, kp_, lower_stop_, lower_stop_deg_, lower_trigger_, lower_trigger_deg_, maxacc_, maxvel_, ndof, updateState(), upper_stop_, upper_stop_deg_, upper_trigger_, and upper_trigger_deg_.

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Status opspace::JointLimitTask::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 963 of file task_library.cpp.

References opspace::Task::actual_, opspace::Task::command_, cursor_, dt_seconds_, jspace::Model::getState(), goal_, opspace::Task::jacobian_, kd_, kp_, maxacc_, maxvel_, and updateState().

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

Reimplemented from opspace::Task.

Definition at line 1052 of file task_library.cpp.

References opspace::Task::actual_, cursor_, goal_, opspace::ParameterReflection::instance_name_, opspace::Task::jacobian_, and jspace::pretty_print().

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void opspace::JointLimitTask::updateState

(

Model const &

model

)

[protected]

Definition at line 998 of file task_library.cpp.

References opspace::Task::actual_, cursor_, dt_seconds_, jspace::Model::getNDOF(), jspace::Model::getState(), goal_, opspace::Task::jacobian_, lower_stop_, lower_trigger_, ndof, upper_stop_, and upper_trigger_.

Referenced by init(), and update().

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Member Data Documentation

Vector opspace::JointLimitTask::upper_stop_deg_ [protected]

Definition at line 395 of file task_library.hpp.

Referenced by init(), and JointLimitTask().

Vector opspace::JointLimitTask::upper_trigger_deg_ [protected]

Definition at line 396 of file task_library.hpp.

Referenced by init(), and JointLimitTask().

Vector opspace::JointLimitTask::lower_stop_deg_ [protected]

Definition at line 397 of file task_library.hpp.

Referenced by init(), and JointLimitTask().

Vector opspace::JointLimitTask::lower_trigger_deg_ [protected]

Definition at line 398 of file task_library.hpp.

Referenced by init(), and JointLimitTask().

double opspace::JointLimitTask::dt_seconds_ [protected]

Definition at line 399 of file task_library.hpp.

Referenced by check(), init(), JointLimitTask(), update(), and updateState().

Vector opspace::JointLimitTask::maxvel_ [protected]

Definition at line 400 of file task_library.hpp.

Referenced by check(), init(), JointLimitTask(), and update().

Vector opspace::JointLimitTask::maxacc_ [protected]

Definition at line 401 of file task_library.hpp.

Referenced by check(), init(), JointLimitTask(), and update().

Vector opspace::JointLimitTask::kp_ [protected]

Definition at line 402 of file task_library.hpp.

Referenced by check(), init(), JointLimitTask(), and update().

Vector opspace::JointLimitTask::kd_ [protected]

Definition at line 403 of file task_library.hpp.

Referenced by check(), init(), JointLimitTask(), and update().

Vector opspace::JointLimitTask::upper_stop_ [protected]

Definition at line 406 of file task_library.hpp.

Referenced by init(), and updateState().

Vector opspace::JointLimitTask::upper_trigger_ [protected]

Definition at line 407 of file task_library.hpp.

Referenced by init(), and updateState().

Vector opspace::JointLimitTask::lower_stop_ [protected]

Definition at line 408 of file task_library.hpp.

Referenced by init(), and updateState().

Vector opspace::JointLimitTask::lower_trigger_ [protected]

Definition at line 409 of file task_library.hpp.

Referenced by init(), and updateState().

std::vector<TypeIOTGCursor *> opspace::JointLimitTask::cursor_ [protected]

Definition at line 411 of file task_library.hpp.

Referenced by check(), dbg(), init(), update(), updateState(), and ~JointLimitTask().

Vector opspace::JointLimitTask::goal_ [protected]

Definition at line 412 of file task_library.hpp.

Referenced by dbg(), init(), update(), and updateState().

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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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