Task Manager for a segment's pose. More...

Inheritance diagram for gocra::gOcraSegPoseTaskManager:

Collaboration diagram for gocra::gOcraSegPoseTaskManager:

Public Member Functions
	gOcraSegPoseTaskManager (GHCJTController &ctrl, const ocra::Model &model, const std::string &taskName, const std::string &segmentName, ocra::ECartesianDof axes, double stiffness, double damping)

	gOcraSegPoseTaskManager (GHCJTController &ctrl, const ocra::Model &model, const std::string &taskName, const std::string &segmentName, ocra::ECartesianDof axes, double stiffness, double damping, const Eigen::Displacementd &targetPose)

	~gOcraSegPoseTaskManager ()

void	setState (const Eigen::Displacementd &pose)

void	setState (const Eigen::Displacementd &pose, const Eigen::Twistd &velocity, const Eigen::Twistd &acceleration)

void	activate ()

void	deactivate ()

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

Task Manager for a segment's pose.

Definition at line 17 of file gOcraSegPoseTaskManager.h.

Constructor & Destructor Documentation

gocra::gOcraSegPoseTaskManager::gOcraSegPoseTaskManager	(	GHCJTController &	_ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName,
		const std::string &	_segmentName,
		ocra::ECartesianDof	_axes,
		double	_stiffness,
		double	_damping
	)

Base constructor

Parameters

_ctrl	GHCJTController to connect to
_model	ocra model to setup the task
_taskName	Name of the task
_segmentName	Name of the segment for the task
_axes	The axes used for the task
_stiffness	Stiffness constant for task
_damping	Damping constant for task

gocra::gOcraSegPoseTaskManager::gOcraSegPoseTaskManager	(	GHCJTController &	_ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName,
		const std::string &	_segmentName,
		ocra::ECartesianDof	_axes,
		double	_stiffness,
		double	_damping,
		const Eigen::Displacementd &	_poseDes
	)

Constructor with desired pose

Parameters

_ctrl	GHCJTController to connect to
_model	ocra model to setup the task
_taskName	Name of the task
_segmentName	Name of the segment for the task
_axes	The axes used for the task
_stiffness	Stiffness constant for task
_damping	Damping constant for task
_poseDes	Initial pose for task