tut05::PTask Class Reference

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List of all members.

Public Member Functions
	PTask ()
void	updateStateAndJacobian (Model const &model)
virtual jspace::Status	init (jspace::Model const &model)
	Abstract, implemented by subclasses in order to initialize the task.
virtual jspace::Status	update (jspace::Model const &model)
	Abstract, implemented by subclasses in order to compute the current task state, the command acceleration, and the Jacobian.
Public Attributes
bool	initialized_
double	kp_
double	kd_
jspace::Vector	curvel_
jspace::Vector	goalpos_
jspace::Vector	goalvel_

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Detailed Description

Definition at line 71 of file tut05_opspace_and_parameters.cpp.

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Constructor & Destructor Documentation

tut05::PTask::PTask

(

)

[inline]

Definition at line 73 of file tut05_opspace_and_parameters.cpp.

References opspace::ParameterReflection::declareParameter(), goalpos_, and goalvel_.

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Member Function Documentation

void tut05::PTask::updateStateAndJacobian

(

Model const &

model

)

[inline]

Definition at line 81 of file tut05_opspace_and_parameters.cpp.

References opspace::Task::actual_, jspace::Model::computeGlobalFrame(), jspace::Model::computeJacobian(), curvel_, jspace::Model::getNode(), jspace::Model::getState(), opspace::Task::jacobian_, and jspace::State::velocity_.

Referenced by init(), and update().

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virtual jspace::Status tut05::PTask::init

(

jspace::Model const &

model

)

[inline, 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 96 of file tut05_opspace_and_parameters.cpp.

References opspace::Task::actual_, goalpos_, goalvel_, initialized_, kd_, kp_, and updateStateAndJacobian().

Referenced by servo_cb(), and update().

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virtual jspace::Status tut05::PTask::update

(

jspace::Model const &

model

)

[inline, 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 130 of file tut05_opspace_and_parameters.cpp.

References opspace::Task::actual_, opspace::Task::command_, curvel_, goalpos_, goalvel_, init(), initialized_, kd_, kp_, and updateStateAndJacobian().

Referenced by servo_cb().

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Member Data Documentation

bool tut05::PTask::initialized_

Definition at line 157 of file tut05_opspace_and_parameters.cpp.

Referenced by init(), and update().

double tut05::PTask::kp_

Definition at line 158 of file tut05_opspace_and_parameters.cpp.

Referenced by init(), and update().

double tut05::PTask::kd_

Definition at line 158 of file tut05_opspace_and_parameters.cpp.

Referenced by init(), and update().

jspace::Vector tut05::PTask::curvel_

Definition at line 159 of file tut05_opspace_and_parameters.cpp.

Referenced by servo_cb(), update(), and updateStateAndJacobian().

jspace::Vector tut05::PTask::goalpos_

Definition at line 160 of file tut05_opspace_and_parameters.cpp.

Referenced by init(), PTask(), servo_cb(), and update().

jspace::Vector tut05::PTask::goalvel_

Definition at line 160 of file tut05_opspace_and_parameters.cpp.

Referenced by init(), PTask(), servo_cb(), and update().

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The documentation for this class was generated from the following file:

• tutorials/tut05_opspace_and_parameters.cpp

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