Stanford WBC Operational-Space Library

The operational-space utility library uses the joint-space dynamics provided by the jspace library and adds a few abstractions and utilities to do operational-space control.

Most importantly, there are facilities for inspecting and setting various parameters at runtime, and to create tasks and skills a startup time.

So, opspace actually contains two things:

• Assembling robot skills from hierarchies of dynamically decoupled operational-space tasks. In order to learn about the classes that support the creation of skills, it is probably best to read through opspace::Task, opspace::Skill, opspace::Controller, and the collection of classes in opspace/task_library.hpp and opspace/skill_library.hpp.

• Software infrastructure to easily reflect parameters defined by the skills and tasks, and to easily configure the assigment of task instances to slots in their respective skills. The best places to begin reading about parameter reflection are probably opspace::ParameterReflection, opspace::TaskSlotAPI, and opspace::Factory.

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