ocra::TaskBuilder Class Reference

#include <TaskBuilder.h>

Inheritance diagram for ocra::TaskBuilder:

Collaboration diagram for ocra::TaskBuilder:

Public Member Functions
	TaskBuilder (const TaskBuilderOptions &taskOptions, Model::Ptr modelPtr)
virtual	~TaskBuilder ()
void	buildTask ()
Task::Ptr	getTask ()
void	setTaskParameters ()

Protected Member Functions
virtual void	setTaskType ()=0
virtual void	setTaskState ()=0
virtual Feature::Ptr	buildFeature ()=0
virtual Feature::Ptr	buildFeatureDesired ()=0
virtual void	setTaskAsObjectiveOrConstraint ()

Protected Attributes
Task::Ptr	task
Model::Ptr	model
TaskBuilderOptions	options

Detailed Description

Definition at line 15 of file TaskBuilder.h.

Constructor & Destructor Documentation

TaskBuilder::TaskBuilder	(	const TaskBuilderOptions &	taskOptions,
		Model::Ptr	modelPtr
	)

Definition at line 6 of file TaskBuilder.cpp.

TaskBuilder::~TaskBuilder ( )

virtual

Definition at line 13 of file TaskBuilder.cpp.

Member Function Documentation

virtual Feature::Ptr ocra::TaskBuilder::buildFeature ( )

protectedpure virtual

Implemented in ocra::PoseTaskBuilder, ocra::CartesianTaskBuilder, ocra::ComTaskBuilder, ocra::FullPostureTaskBuilder, ocra::OrientationTaskBuilder, ocra::PartialPostureTaskBuilder, and ocra::PointContactTaskBuilder.

virtual Feature::Ptr ocra::TaskBuilder::buildFeatureDesired ( )

protectedpure virtual

Implemented in ocra::PoseTaskBuilder, ocra::CartesianTaskBuilder, ocra::ComTaskBuilder, ocra::FullPostureTaskBuilder, ocra::OrientationTaskBuilder, ocra::PartialPostureTaskBuilder, and ocra::PointContactTaskBuilder.

void TaskBuilder::buildTask

(

)

Defines a feature and a desired feature of type ocra::Feature and consequently instantiates the corresponding task. The way a feature is built depends on the implementation (e.g. FullPostureTaskBuilder::buildFeature) written for each task-specific TaskBuilder.

Definition at line 18 of file TaskBuilder.cpp.

Task::Ptr TaskBuilder::getTask

(

)

Returns a pointer to the task associated to the TaskBuilder.

Returns

Pointer to the task contained in the TaskBuilder object.

Definition at line 34 of file TaskBuilder.cpp.

void TaskBuilder::setTaskAsObjectiveOrConstraint ( )

protectedvirtual

This function is overloaded for cases where the task should be treated as a constraint and not as an objective. If not overloaded the base class implementation will be called and set the task to an objective.

Reimplemented in ocra::PointContactTaskBuilder.

Definition at line 52 of file TaskBuilder.cpp.

void TaskBuilder::setTaskParameters

(

)

First sets a specific task as objective or constraint, its task level, weight, stiffness, damping and the task state (which is specific to the type of task. This information comes naturally from the task builder options passed during the construction of a TaskBuilder.

Definition at line 39 of file TaskBuilder.cpp.

virtual void ocra::TaskBuilder::setTaskState ( )

protectedpure virtual

Implemented in ocra::PoseTaskBuilder, ocra::CartesianTaskBuilder, ocra::ComTaskBuilder, ocra::FullPostureTaskBuilder, ocra::OrientationTaskBuilder, ocra::PartialPostureTaskBuilder, and ocra::PointContactTaskBuilder.

virtual void ocra::TaskBuilder::setTaskType ( )

protectedpure virtual

Implemented in ocra::PoseTaskBuilder, ocra::CartesianTaskBuilder, ocra::ComTaskBuilder, ocra::FullPostureTaskBuilder, ocra::OrientationTaskBuilder, ocra::PartialPostureTaskBuilder, and ocra::PointContactTaskBuilder.

Member Data Documentation

Model::Ptr ocra::TaskBuilder::model

protected

Definition at line 20 of file TaskBuilder.h.

TaskBuilderOptions ocra::TaskBuilder::options

protected

Definition at line 21 of file TaskBuilder.h.

Task::Ptr ocra::TaskBuilder::task

protected

Definition at line 19 of file TaskBuilder.h.

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

• TaskBuilder.h
• TaskBuilder.cpp