gocra::gOcraFullPostureTaskManager Class Reference

gOcra Task Manager for the joint space posture More...

#include <gOcraFullPostureTaskManager.h>

Inheritance diagram for gocra::gOcraFullPostureTaskManager:

Collaboration diagram for gocra::gOcraFullPostureTaskManager:

Public Member Functions
	gOcraFullPostureTaskManager (GHCJTController &ctrl, const ocra::Model &model, const std::string &taskName, int fullStateType, double stiffness, double damping)
	gOcraFullPostureTaskManager (GHCJTController &ctrl, const ocra::Model &model, const std::string &taskName, int fullStateType, double stiffness, double damping, const Eigen::VectorXd &init_q)
	~gOcraFullPostureTaskManager ()
void	activate ()
void	deactivate ()
void	setPosture (const Eigen::VectorXd &q)
void	setPosture (const Eigen::VectorXd &q, const Eigen::VectorXd &qdot, const Eigen::VectorXd &qddot)
void	setStiffness (double stiffness)
double	getStiffness ()
void	setDamping (double damping)
double	getDamping ()
Eigen::VectorXd	getTaskError ()
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

gOcra Task Manager for the joint space posture

Definition at line 18 of file gOcraFullPostureTaskManager.h.

Constructor & Destructor Documentation

gocra::gOcraFullPostureTaskManager::gOcraFullPostureTaskManager	(	GHCJTController &	_ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName,
		int	_fullStateType,
		double	_stiffness,
		double	_damping
	)

Base constructor

Parameters

_ctrl	GHCJTController to connect to
_model	ocra model to setup the task
_taskName	Name of the task
_fullStateType	ocra::FullState enum specifying between (ocra::FullState::FULL_STATE, ocra::FullState::FREE_FLYER, ocra::FullState::INTERNAL)
_stiffness	Stiffness constant for task
_damping	Damping constant for task

Definition at line 15 of file gOcraFullPostureTaskManager.cpp.

gocra::gOcraFullPostureTaskManager::gOcraFullPostureTaskManager	(	GHCJTController &	_ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName,
		int	_fullStateType,
		double	_stiffness,
		double	_damping,
		const Eigen::VectorXd &	_init_q
	)

Constructor with desired joint space posture

Parameters

_ctrl	GHCJTController to connect to
_model	ocra model to setup the task
_taskName	Name of the task
_fullStateType	ocra::FullState enum specifying between (ocra::FullState::FULL_STATE, ocra::FullState::FREE_FLYER, ocra::FullState::INTERNAL)
_stiffness	Stiffness constant for task
_damping	Damping constant for task
_init_q	Initial posture

Definition at line 31 of file gOcraFullPostureTaskManager.cpp.

gocra::gOcraFullPostureTaskManager::~gOcraFullPostureTaskManager

(

)

Member Function Documentation

void gocra::gOcraFullPostureTaskManager::activate ( )

virtual

Activate function

Implements gocra::gOcraTaskManagerBase.

Definition at line 135 of file gOcraFullPostureTaskManager.cpp.

void gocra::gOcraFullPostureTaskManager::deactivate ( )

virtual

Deactivate function

Implements gocra::gOcraTaskManagerBase.

Definition at line 143 of file gOcraFullPostureTaskManager.cpp.

double gocra::gOcraFullPostureTaskManager::getDamping

(

)

Gets the damping constant for this task

Returns

The damping for this task

Definition at line 126 of file gOcraFullPostureTaskManager.cpp.

double gocra::gOcraFullPostureTaskManager::getStiffness

(

)

Gets the stiffness constant for this task

Returns

The stiffness for this task

Definition at line 107 of file gOcraFullPostureTaskManager.cpp.

Eigen::VectorXd gocra::gOcraFullPostureTaskManager::getTaskError ( )

virtual

Gets the error for this task (posture error)

Reimplemented from gocra::gOcraTaskManagerBase.

Definition at line 151 of file gOcraFullPostureTaskManager.cpp.

void gocra::gOcraFullPostureTaskManager::setDamping

(

double

damping

)

Sets the damping for this task

Parameters

damping

Desired damping

Definition at line 117 of file gOcraFullPostureTaskManager.cpp.

void gocra::gOcraFullPostureTaskManager::setPosture

(

const Eigen::VectorXd &

q

)

Sets the full joint space posture for the task

Definition at line 63 of file gOcraFullPostureTaskManager.cpp.

void gocra::gOcraFullPostureTaskManager::setPosture	(	const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	qdot,
		const Eigen::VectorXd &	qddot
	)

Sets the full joint space posture, velocity and acceleration for the task

Definition at line 71 of file gOcraFullPostureTaskManager.cpp.

void gocra::gOcraFullPostureTaskManager::setStiffness

(

double

stiffness

)

Sets the stiffness for this task

Parameters

stiffness

Desired stiffness

Definition at line 98 of file gOcraFullPostureTaskManager.cpp.

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

• gOcraFullPostureTaskManager.h
• gOcraFullPostureTaskManager.cpp