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

List of all members.


Public Member Functions
	SelectedJointPostureTask (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 Status	check (double const *param, double value) const
	Default implementation always returns succes.
virtual Status	check (Vector const *param, Vector const &value) const
	Default implementation always returns succes.
Protected Attributes
Vector	selection_
double	kp_
double	kd_
bool	initialized_
std::vector< size_t >	active_joints_

Detailed Description

Constructor & Destructor Documentation

opspace::SelectedJointPostureTask::SelectedJointPostureTask ( std::string const & name ) [explicit]

Definition at line 508 of file task_library.cpp.

References opspace::ParameterReflection::declareParameter(), kd_, kp_, opspace::PARAMETER_FLAG_NOLOG, and selection_.

Here is the call graph for this function:

Member Function Documentation

Status opspace::SelectedJointPostureTask::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 521 of file task_library.cpp.

References active_joints_, opspace::Task::actual_, opspace::Task::command_, jspace::Model::getNDOF(), jspace::Model::getState(), initialized_, opspace::Task::jacobian_, ndof, and selection_.

Here is the call graph for this function:

Status opspace::SelectedJointPostureTask::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.