Task Manager for a set of contact tasks. More...

#include <gOcraContactSetTaskManager.h>

Inheritance diagram for gocra::gOcraContactSetTaskManager:

Collaboration diagram for gocra::gOcraContactSetTaskManager:

Public Member Functions
	gOcraContactSetTaskManager (GHCJTController &ctrl, const ocra::Model &model, const std::string &taskName, const std::string &segmentName, Eigen::Displacementd H_segment_frame[], int numContacts, double mu, double margin)

	~gOcraContactSetTaskManager ()

void	activate ()

void	deactivate ()

VectorXd	getTaskError ()

double	getTaskErrorNorm ()

Public Member Functions inherited from gocra::gOcraTaskManagerBase
	gOcraTaskManagerBase (gocra::GHCJTController &ctrl, const ocra::Model &model, const std::string &name)

double	getTaskErrorNorm ()

Additional Inherited Members
Protected Attributes inherited from gocra::gOcraTaskManagerBase
gocra::GHCJTController &	ctrl

const ocra::Model &	model

const std::string &	name

Detailed Description

Task Manager for a set of contact tasks.

This class eases the activation and deactivation for a set of contact tasks (no need to write a loop remembering the task indices to activate and deactivate)

Definition at line 19 of file gOcraContactSetTaskManager.h.

Constructor & Destructor Documentation

gocra::gOcraContactSetTaskManager::gOcraContactSetTaskManager	(	GHCJTController &	_ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName,
		const std::string &	_segmentName,
		Eigen::Displacementd	_H_segment_frame[],
		int	_numContacts,
		double	_mu,
		double	_margin
	)

Base constructor

Parameters

_ctrl	GHCJTController to connect to
_model	ocra model to setup the task
_taskName	Name of the tasks (prefix for the set of tasks)
_segmentName	Name of segment that the contacts are attached to
_H_segment_frame	Array of contact points local to the segment
_numContacts	Number of contact points in this set
_mu	Coefficient of friction
_margin	Margin inside the friction cone