Hocra Controller based on LQP solver for the ocra framework. More...

#include <HocraController.h>

Inheritance diagram for hocra::HocraController:

Collaboration diagram for hocra::HocraController:

Public Member Functions
	HocraController (const std::string &ctrlName, Model::Ptr innerModel, OneLevelSolver::Ptr innerSolver, bool useReducedProblem)

virtual void	doAddContactSet (const ContactSet &contacts)

virtual void	doAddTask (Task::Ptr task)

virtual void	doComputeOutput (VectorXd &tau)

Task::Ptr	doCreateContactTask (const std::string &name, ocra::PointContactFeature::Ptr feature, double mu, double margin) const

Task::Ptr	doCreateTask (const std::string &name, ocra::Feature::Ptr feature) const

Task::Ptr	doCreateTask (const std::string &name, ocra::Feature::Ptr feature, ocra::Feature::Ptr featureDes) const

virtual	~HocraController ()

Public Member Functions inherited from ocra::Controller
virtual	~Controller ()=0

void	printInfo (int level, const std::string &filename)

void	setMaxJointTorques (const Eigen::VectorXd &tau_max)

const Eigen::VectorXd &	getMaxJointTorques () const

void	addTask (std::shared_ptr< Task > task)

void	addTasks (const std::vector< std::shared_ptr< Task >> &tasks)

void	removeTask (const std::string &taskName)

void	removeTasks (const std::vector< std::string > tasks)

std::vector< std::string >	getTaskNames ()

std::string	getTaskPortName (const std::string &taskName)

std::vector< std::string >	getTaskPortNames ()

void	addContactSet (const ContactSet &contacts)

std::shared_ptr< Task >	getTask (const std::string &name)

const std::shared_ptr< Task >	getTask (const std::string &name) const

const std::map< std::string, std::shared_ptr< Task > > &	getTasks () const

void	computeOutput (Eigen::VectorXd &tau)
	Computation of output torques based on the tasks added to the controller. More...

const Eigen::VectorXd &	computeOutput ()

std::shared_ptr< Task >	createContactTask (const std::string &name, PointContactFeature::Ptr feature, double mu, double margin) const
	Creates a contact task. More...

std::shared_ptr< Task >	createTask (const std::string &name, Feature::Ptr feature, Feature::Ptr featureDes) const
	Generic task creation. More...

std::shared_ptr< Task >	createTask (const std::string &name, Feature::Ptr feature) const

void	enableErrorHandling ()

void	disableErrorHandling ()

bool	isErrorHandlingEnabled () const

const std::string &	getErrorMessage () const

void	clearErrorFlag ()

int	getErrorFlag () const

void	setMaxJointTorqueNorm (double maxTau)

double	getMaxJointTorqueNorm () const

void	setFixedLinkForOdometry (std::string newFixedLink)

void	setUseOdometry (bool useOdometry)

void	getFixedLinkForOdometry (std::string &currentFixedLink)

void	setContactState (int isInLeftSupport, int isInRightSupport)

void	getContactState (int &leftSupport, int &rightSupport)

Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)

const std::string &	getName () const

virtual	~NamedInstance ()

Additional Inherited Members
Public Types inherited from ocra::Controller
enum	ErrorFlag { SUCCESS = 0, CRITICAL_ERROR = 1, STATIC_EQ_LOSS = 2, DYN_EQ_LOSS = 4, INSTABILITY = 8 + 1, OTHER = 16 }
	Error handling. More...

Protected Member Functions inherited from ocra::Controller
	Controller (const std::string &name, Model &model)

const std::vector< std::shared_ptr< Task > > &	getActiveTasks () const

void	setErrorFlag (int eflag)

void	setErrorMessage (const std::string &msg)

virtual void	doComputeOutput (Eigen::VectorXd &tau)=0

virtual void	doAddTask (std::shared_ptr< Task > task)=0

virtual void	doSetMaxJointTorques (const Eigen::VectorXd &tauMax)

virtual std::shared_ptr< Task >	doCreateTask (const std::string &name, Feature::Ptr feature, Feature::Ptr featureDes) const =0

virtual std::shared_ptr< Task >	doCreateTask (const std::string &name, Feature::Ptr feature) const =0

virtual std::shared_ptr< Task >	doCreateContactTask (const std::string &name, PointContactFeature::Ptr feature, double mu, double margin) const =0

Detailed Description

Hocra Controller based on LQP solver for the ocra framework.

Definition at line 35 of file HocraController.h.

Constructor & Destructor Documentation

hocra::HocraController::HocraController	(	const std::string &	ctrlName,
		Model::Ptr	innerModel,
		OneLevelSolver::Ptr	innerSolver,
		bool	useReducedProblem
	)

Definition at line 9 of file HocraController.cpp.

virtual hocra::HocraController::~HocraController ( )

inlinevirtual

Definition at line 48 of file HocraController.h.

Member Function Documentation

void hocra::HocraController::doAddContactSet ( const ContactSet & contacts )

virtual

Implements ocra::Controller.

Definition at line 20 of file HocraController.cpp.

void hocra::HocraController::doAddTask ( Task::Ptr task )

virtual

Definition at line 24 of file HocraController.cpp.

void hocra::HocraController::doComputeOutput ( VectorXd & tau )

virtual

Definition at line 30 of file HocraController.cpp.

Task::Ptr hocra::HocraController::doCreateContactTask	(	const std::string &	name,
		ocra::PointContactFeature::Ptr	feature,
		double	mu,
		double	margin
	)		const

Definition at line 48 of file HocraController.cpp.

Task::Ptr hocra::HocraController::doCreateTask	(	const std::string &	name,
		ocra::Feature::Ptr	feature
	)		const

Task::Ptr hocra::HocraController::doCreateTask	(	const std::string &	name,
		ocra::Feature::Ptr	feature,
		ocra::Feature::Ptr	featureDes
	)		const

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation