gocra::gOcraTaskManagerBase Class Reference

Task Manager for the Center of Mass (CoM) task with the gOcra Controllers. More...

#include <gOcraTaskManagerBase.h>

Inheritance diagram for gocra::gOcraTaskManagerBase:

Collaboration diagram for gocra::gOcraTaskManagerBase:

Public Member Functions
	gOcraTaskManagerBase (gocra::GHCJTController &ctrl, const ocra::Model &model, const std::string &name)
virtual void	activate ()=0
virtual void	deactivate ()=0
virtual VectorXd	getTaskError ()
double	getTaskErrorNorm ()

Protected Attributes
gocra::GHCJTController &	ctrl
const ocra::Model &	model
const std::string &	name

Detailed Description

Task Manager for the Center of Mass (CoM) task with the gOcra Controllers.

Definition at line 15 of file gOcraTaskManagerBase.h.

Constructor & Destructor Documentation

gocra::gOcraTaskManagerBase::gOcraTaskManagerBase	(	gocra::GHCJTController &	ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName
	)

base constructor

Parameters

ctrl	GHCJTController to connect to
model	ocra model to setup the task
taskName	Name of the task

Definition at line 12 of file gOcraTaskManagerBase.cpp.

Member Function Documentation

virtual void gocra::gOcraTaskManagerBase::activate ( )

pure virtual

Implemented in gocra::gOcraCoMTaskManager, gocra::gOcraSegCartesianTaskManager, gocra::gOcraPartialPostureTaskManager, gocra::gOcraSegPoseTaskManager, gocra::gOcraSegOrientationTaskManager, gocra::gOcraFullPostureTaskManager, gocra::gOcraContactSetTaskManager, and gocra::gOcraContactTaskManager.

virtual void gocra::gOcraTaskManagerBase::deactivate ( )

pure virtual

Implemented in gocra::gOcraCoMTaskManager, gocra::gOcraSegCartesianTaskManager, gocra::gOcraPartialPostureTaskManager, gocra::gOcraSegPoseTaskManager, gocra::gOcraSegOrientationTaskManager, gocra::gOcraFullPostureTaskManager, gocra::gOcraContactSetTaskManager, and gocra::gOcraContactTaskManager.

Eigen::VectorXd gocra::gOcraTaskManagerBase::getTaskError ( )

virtual

Returns the error vector of the task

If the derived child class does not have a meaningful error, it should override this function to throw an error

Reimplemented in gocra::gOcraCoMTaskManager, gocra::gOcraSegCartesianTaskManager, gocra::gOcraFullPostureTaskManager, gocra::gOcraSegOrientationTaskManager, gocra::gOcraSegPoseTaskManager, gocra::gOcraContactSetTaskManager, and gocra::gOcraContactTaskManager.

Definition at line 21 of file gOcraTaskManagerBase.cpp.

double gocra::gOcraTaskManagerBase::getTaskErrorNorm

(

)

Returns the norm of the error vector

If the derived child class does not have a meaningful error, it should override this function to throw an error

Definition at line 30 of file gOcraTaskManagerBase.cpp.

Member Data Documentation

gocra::GHCJTController& gocra::gOcraTaskManagerBase::ctrl

protected

Definition at line 27 of file gOcraTaskManagerBase.h.

const ocra::Model& gocra::gOcraTaskManagerBase::model

protected

Definition at line 28 of file gOcraTaskManagerBase.h.

const std::string& gocra::gOcraTaskManagerBase::name

protected

Definition at line 29 of file gOcraTaskManagerBase.h.

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

• gOcraTaskManagerBase.h
• gOcraTaskManagerBase.cpp