opspace::OrientationTask Class Reference

#include <task_library.hpp>

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List of all members.

Public Member Functions
	OrientationTask (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.
virtual void	dbg (std::ostream &os, std::string const &title, std::string const &prefix) const
Protected Member Functions
taoDNode const *	updateActual (Model const &model)
Protected Attributes
Eigen::Vector3d	goal_x_
Eigen::Vector3d	goal_y_
Eigen::Vector3d	goal_z_
Eigen::Vector3d	actual_x_
Eigen::Vector3d	actual_y_
Eigen::Vector3d	actual_z_
Vector	velocity_
Vector	delta_
int	end_effector_id_
double	kp_
double	kd_
double	maxvel_
Vector	eepos_

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Detailed Description

Definition at line 418 of file task_library.hpp.

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Constructor & Destructor Documentation

opspace::OrientationTask::OrientationTask

(

std::string const &

name

)

[explicit]

Definition at line 1070 of file task_library.cpp.

References opspace::ParameterReflection::declareParameter(), eepos_, end_effector_id_, kd_, kp_, maxvel_, and opspace::PARAMETER_FLAG_NOLOG.

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Member Function Documentation

Status opspace::OrientationTask::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 1086 of file task_library.cpp.

References actual_x_, actual_y_, actual_z_, end_effector_id_, goal_x_, goal_y_, goal_z_, and updateActual().

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Status opspace::OrientationTask::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 1140 of file task_library.cpp.

References actual_x_, actual_y_, actual_z_, opspace::Task::command_, delta_, goal_x_, goal_y_, goal_z_, kd_, kp_, maxvel_, updateActual(), and velocity_.

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

Reimplemented from opspace::Task.

Definition at line 1164 of file task_library.cpp.

References actual_x_, actual_y_, actual_z_, opspace::Task::command_, delta_, goal_x_, goal_y_, goal_z_, opspace::ParameterReflection::instance_name_, jspace::pretty_print(), and velocity_.

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taoDNode const * opspace::OrientationTask::updateActual

(

Model const &

model

)

[protected]

Definition at line 1103 of file task_library.cpp.

References opspace::Task::actual_, actual_x_, actual_y_, actual_z_, jspace::Model::computeGlobalFrame(), jspace::Model::computeJacobian(), eepos_, end_effector_id_, jspace::Model::getNode(), jspace::Model::getState(), opspace::Task::jacobian_, and velocity_.

Referenced by init(), and update().

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Member Data Documentation

Eigen::Vector3d opspace::OrientationTask::goal_x_ [protected]

Definition at line 435 of file task_library.hpp.

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

Eigen::Vector3d opspace::OrientationTask::goal_y_ [protected]

Definition at line 436 of file task_library.hpp.

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

Eigen::Vector3d opspace::OrientationTask::goal_z_ [protected]

Definition at line 437 of file task_library.hpp.

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

Eigen::Vector3d opspace::OrientationTask::actual_x_ [protected]

Definition at line 438 of file task_library.hpp.

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

Eigen::Vector3d opspace::OrientationTask::actual_y_ [protected]

Definition at line 439 of file task_library.hpp.

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

Eigen::Vector3d opspace::OrientationTask::actual_z_ [protected]

Definition at line 440 of file task_library.hpp.

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

Vector opspace::OrientationTask::velocity_ [protected]

Definition at line 441 of file task_library.hpp.

Referenced by dbg(), update(), and updateActual().

Vector opspace::OrientationTask::delta_ [protected]

Definition at line 442 of file task_library.hpp.

Referenced by dbg(), and update().

int opspace::OrientationTask::end_effector_id_ [protected]

Definition at line 443 of file task_library.hpp.

Referenced by init(), OrientationTask(), and updateActual().

double opspace::OrientationTask::kp_ [protected]

Definition at line 444 of file task_library.hpp.

Referenced by OrientationTask(), and update().

double opspace::OrientationTask::kd_ [protected]

Definition at line 445 of file task_library.hpp.

Referenced by OrientationTask(), and update().

double opspace::OrientationTask::maxvel_ [protected]

Definition at line 446 of file task_library.hpp.

Referenced by OrientationTask(), and update().

Vector opspace::OrientationTask::eepos_ [protected]

Definition at line 447 of file task_library.hpp.

Referenced by OrientationTask(), and updateActual().

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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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