Classes | |
| class | ClassicTaskPostureController |
| class | Controller |
| struct | ShopAPI |
| struct | TaskShop |
| struct | SkillShop |
| class | Factory |
| Utility for creating Task and Skill instances based on type names. More... | |
| class | Parameter |
| Abstract base for all (task) parameters. More... | |
| class | IntegerParameter |
| Implementation for integer parameters: a single int value. More... | |
| class | StringParameter |
| Implementation for string parameters: a single std::string value. More... | |
| class | RealParameter |
| Implementation for real parameters: a single double value. More... | |
| class | VectorParameter |
| Implementation for vector parameters: a vector of double values. More... | |
| class | MatrixParameter |
| Implementation for matrix parameters: a matrix of double values. More... | |
| class | ParameterReflection |
| Base for classes that reflect (some of) their parameters. More... | |
| class | ReflectionRegistry |
| class | ParameterLog |
| class | Parser |
| class | TaskParser |
| class | SkillParser |
| class | TaskTableParser |
| class | SkillTableParser |
| class | TaskSlotAPI |
| class | TaskSlot |
| class | Skill |
| class | GenericSkill |
| class | TaskPostureSkill |
| class | TaskPostureTrjSkill |
| class | Task |
| Partially abstract base class for all operational space tasks. More... | |
| class | PDTask |
| Base class for tasks with proportional-derivative control. More... | |
| class | DraftPIDTask |
| class | CartPosTask |
| Cartesian position task. More... | |
| class | JPosTask |
| Joint-space posture task. More... | |
| class | SelectedJointPostureTask |
| A test task which drives a subset of DOF to zero using non-saturated PD control. More... | |
| class | TrajectoryTask |
| Base class for acceleration-bounded trajectory tasks. More... | |
| class | CartPosTrjTask |
| Cartesian position trajectory task. More... | |
| class | JPosTrjTask |
| Joint-space posture trajectory task. More... | |
| class | JointLimitTask |
| class | OrientationTask |
| class | TypeIOTGCursor |
| Utility for using reflexxes_otg::TypeIOTG. More... | |
Typedefs | |
| typedef std::map< std::string, Parameter * > | parameter_lookup_t |
Enumerations | |
| enum | parameter_type_t { PARAMETER_TYPE_VOID, PARAMETER_TYPE_STRING, PARAMETER_TYPE_INTEGER, PARAMETER_TYPE_REAL, PARAMETER_TYPE_VECTOR, PARAMETER_TYPE_MATRIX } |
| Enumeration type for task parameter types. More... | |
| enum | parameter_flags_t { PARAMETER_FLAG_DEFAULT = 0, PARAMETER_FLAG_NOLOG = 1, PARAMETER_FLAG_READONLY = 2 } |
| enum | task_slot_flags_t { TASK_SLOT_DEFAULT = 0, TASK_SLOT_OPTIONAL = 1 } |
Functions | |
| static bool | shops_initialized__ (false) |
| static void | init_shops () |
| template<typename parameter_t, typename storage_t> | |
| bool | maybe_append (std::vector< ParameterLog::log_s< parameter_t, storage_t > > &collection, Parameter const *parameter) |
| static char const * | yaml_type_name (YAML::Node const &node) |
| void | operator>> (YAML::Node const &node, Vector &vector) |
| static Parameter * | parse_parameter (std::string const &com_type, std::string const &com_name, ParameterReflection &pr, std::string const &key, YAML::Node const &value) throw (std::runtime_error) |
| void | operator>> (YAML::Node const &node, TaskParser &parser) |
| void | operator>> (YAML::Node const &node, SkillParser &parser) |
| void | operator>> (YAML::Node const &node, TaskTableParser &parser) |
| void | operator>> (YAML::Node const &node, SkillTableParser &parser) |
| void | pseudoInverse (Matrix const &matrix, double sigmaThreshold, Matrix &invMatrix, Vector *opt_sigmaOut=0) |
| This pseudo-inverse is based on SVD, followed by threshlding on the singular values. | |
| char const * | otg_errstr (int otg_error_code) |
| typedef std::map<std::string, Parameter *> opspace::parameter_lookup_t |
Definition at line 179 of file Parameter.hpp.
Definition at line 52 of file Parameter.hpp.
Enumeration type for task parameter types.
| PARAMETER_TYPE_VOID | no data (e.g. invalid type code) |
| PARAMETER_TYPE_STRING | mapped to std::string |
| PARAMETER_TYPE_INTEGER | mapped to int |
| PARAMETER_TYPE_REAL | mapped to double |
| PARAMETER_TYPE_VECTOR | mapped to jspace::Vector |
| PARAMETER_TYPE_MATRIX | mapped to jspace::Matrix |
Definition at line 42 of file Parameter.hpp.
| static void opspace::init_shops | ( | ) | [static] |
Definition at line 37 of file Factory.cpp.
References shops_initialized__().
Referenced by opspace::Factory::createSkill(), and opspace::Factory::createTask().
| bool opspace::maybe_append | ( | std::vector< ParameterLog::log_s< parameter_t, storage_t > > & | collection, | |
| Parameter const * | parameter | |||
| ) | [inline] |
Definition at line 501 of file Parameter.cpp.
References PARAMETER_FLAG_NOLOG.
Referenced by opspace::ParameterLog::ParameterLog().
| void opspace::operator>> | ( | YAML::Node const & | node, | |
| SkillTableParser & | parser | |||
| ) |
Definition at line 375 of file parse_yaml.cpp.
References opspace::Parser::dbg, opspace::Skill::dump(), opspace::SkillParser::skill, opspace::SkillTableParser::skill_parser, and opspace::SkillTableParser::skill_table.
| void opspace::operator>> | ( | YAML::Node const & | node, | |
| TaskTableParser & | parser | |||
| ) |
Definition at line 362 of file parse_yaml.cpp.
References opspace::TaskParser::task, opspace::TaskTableParser::task_parser, and opspace::TaskTableParser::task_table.
| void opspace::operator>> | ( | YAML::Node const & | node, | |
| SkillParser & | parser | |||
| ) |
Definition at line 257 of file parse_yaml.cpp.
References opspace::Factory::createSkill(), opspace::Parser::dbg, opspace::Parameter::dump(), opspace::Parser::factory, opspace::Factory::findTask(), opspace::Skill::lookupSlot(), opspace::SkillParser::name, parse_parameter(), opspace::SkillParser::skill, opspace::SkillParser::type, and yaml_type_name().
| void opspace::operator>> | ( | YAML::Node const & | node, | |
| TaskParser & | parser | |||
| ) |
Definition at line 214 of file parse_yaml.cpp.
References opspace::Factory::createTask(), opspace::Parser::dbg, opspace::Parameter::dump(), opspace::TaskParser::name, parse_parameter(), opspace::TaskParser::task, opspace::TaskParser::type, and yaml_type_name().
| void opspace::operator>> | ( | YAML::Node const & | node, | |
| Vector & | vector | |||
| ) |
Definition at line 108 of file parse_yaml.cpp.
| char const * opspace::otg_errstr | ( | int | otg_error_code | ) |
Definition at line 89 of file TypeIOTGCursor.cpp.
Referenced by opspace::TrajectoryTask::computeTrajectoryCommand().
| static Parameter* opspace::parse_parameter | ( | std::string const & | com_type, | |
| std::string const & | com_name, | |||
| ParameterReflection & | pr, | |||
| std::string const & | key, | |||
| YAML::Node const & | value | |||
| ) | throw (std::runtime_error) [static] |
Definition at line 117 of file parse_yaml.cpp.
References PARAMETER_TYPE_INTEGER, PARAMETER_TYPE_MATRIX, PARAMETER_TYPE_REAL, PARAMETER_TYPE_STRING, PARAMETER_TYPE_VECTOR, and yaml_type_name().
Referenced by operator>>().
| void opspace::pseudoInverse | ( | Matrix const & | matrix, | |
| double | sigmaThreshold, | |||
| Matrix & | invMatrix, | |||
| Vector * | opt_sigmaOut = 0 | |||
| ) |
This pseudo-inverse is based on SVD, followed by threshlding on the singular values.
This is a bit simplistic, but we have found that it works allright for our use cases with a sigmaThreshold of 1e-4 or 1e-3.
Definition at line 34 of file pseudo_inverse.cpp.
Referenced by opspace::ClassicTaskPostureController::computeCommand().
| static bool opspace::shops_initialized__ | ( | false | ) | [static] |
Referenced by init_shops().
| static char const* opspace::yaml_type_name | ( | YAML::Node const & | node | ) | [static] |
1.5.4