#include <TaskYarpInterface.h>

Classes
class	ControlInputCallback
	a short description More...

class	RpcMessageCallback
	a short description More...

class	StateUpdateThread
	a short description More...

Public Member Functions
	TaskYarpInterface (Task::Ptr taskPtr)

virtual	~TaskYarpInterface ()

bool	activate ()

bool	activate (const TASK_MODE tmode)

bool	deactivate ()

TASK_MODE	getTaskMode ()

std::string	getPortName ()

bool	isActivated ()

Eigen::VectorXd	getTaskError ()

int	getTaskHierarchyLevel ()

void	setTaskHierarchyLevel (int level)

double	getTaskErrorNorm ()

void	setStiffness (double K)

void	setStiffness (const VectorXd &K)

void	setStiffness (const MatrixXd &K)

double	getStiffness ()

Eigen::MatrixXd	getStiffnessMatrix ()

void	setDamping (double B)

void	setDamping (const VectorXd &B)

void	setDamping (const MatrixXd &B)

double	getDamping ()

Eigen::MatrixXd	getDampingMatrix ()

void	setWeight (double weight)

void	setWeight (const Eigen::VectorXd &weights)

Eigen::VectorXd	getWeight ()

TaskState	getTaskState ()

TaskState	getDesiredTaskState ()

void	setDesiredTaskState (const TaskState &newDesiredTaskState)

void	setDesiredTaskStateDirect (const TaskState &newDesiredTaskState)

void	publishTaskState ()

Eigen::Displacementd	getTaskFrameDisplacement ()

Eigen::Twistd	getTaskFrameVelocity ()

Eigen::Twistd	getTaskFrameAcceleration ()

Eigen::Vector3d	getTaskFramePosition ()

Eigen::Rotation3d	getTaskFrameOrientation ()

Eigen::Vector3d	getTaskFrameLinearVelocity ()

Eigen::Vector3d	getTaskFrameAngularVelocity ()

Eigen::Vector3d	getTaskFrameLinearAcceleration ()

Eigen::Vector3d	getTaskFrameAngularAcceleration ()

Detailed Description

a long description

Definition at line 41 of file TaskYarpInterface.h.

Constructor & Destructor Documentation

TaskYarpInterface::TaskYarpInterface ( Task::Ptr taskPtr )

Constructor.

Parameters

ctrl	A reference to an ocra controller.
model	A reference to and ocra model.
name	The name of the task.
name	The hierarchy level for Hocra
usesYarpPorts	Whether or not to use yarp for interprocess communication with the task. True by defualt.

base constructor

Parameters

ctrl	ocra::Controller to connect to
model	ocra model to setup the task
taskName	Name of the task

Definition at line 12 of file TaskYarpInterface.cpp.

TaskYarpInterface::~TaskYarpInterface ( )

virtual

Destructor. Mostly just closes yarp ports and threads.

Definition at line 28 of file TaskYarpInterface.cpp.

Member Function Documentation

bool TaskYarpInterface::activate ( )

Activates the underlying task(s)

Note: deactivate() must be called before this function to work properly.

Returns: A boolean indicating the success of the operation.

Definition at line 48 of file TaskYarpInterface.cpp.

bool TaskYarpInterface::activate ( const TASK_MODE tmode )

Activates a single task as either an objective or a constraint.

Note: deactivate() must be called before this function to work properly.

Returns: A boolean indicating the success of the operation.

Definition at line 60 of file TaskYarpInterface.cpp.

bool TaskYarpInterface::deactivate ( )

Deactivates the underlying task(s). This is where we call getTaskMode() to see if the task in an objective or a constraint.

Returns: A boolean indicating the success of the operation.

Definition at line 94 of file TaskYarpInterface.cpp.

double TaskYarpInterface::getDamping ( )

Gets the current damping, or damping (Kd) gain, of the task.

Returns: The first diagonal entry of the damping matrix.

Definition at line 208 of file TaskYarpInterface.cpp.

Eigen::MatrixXd TaskYarpInterface::getDampingMatrix ( )

Gets the current damping, or damping (Kd) gain, of the task.

Returns: The damping matrix.

Definition at line 219 of file TaskYarpInterface.cpp.

TaskState TaskYarpInterface::getDesiredTaskState ( )

Definition at line 263 of file TaskYarpInterface.cpp.

std::string TaskYarpInterface::getPortName ( )

Gets the name of the task manager's RPC server port.

Returns: The port's full name as a string.

Definition at line 416 of file TaskYarpInterface.cpp.

double TaskYarpInterface::getStiffness ( )

Gets the current stiffness, or proportional (Kp) gain, of the task.

Returns: The first diagonal entry of the stiffness matrix.

Definition at line 166 of file TaskYarpInterface.cpp.

Eigen::MatrixXd TaskYarpInterface::getStiffnessMatrix ( )

Gets the current stiffness, or proportional (Kp) gain, of the task.

Returns: The stiffness matrix.

Definition at line 177 of file TaskYarpInterface.cpp.

Eigen::VectorXd TaskYarpInterface::getTaskError ( )

Gets the current error vector of the task. Only valid for task managers with 1 task, not sets of tasks.

Returns: A vector of errors in each DoF of the task.

Definition at line 129 of file TaskYarpInterface.cpp.

double TaskYarpInterface::getTaskErrorNorm ( )

Gets the current error vector norm of the task. Only valid for task managers with 1 task, not sets of tasks.

Returns: The norm of the task error vector.

Definition at line 138 of file TaskYarpInterface.cpp.

Eigen::Twistd TaskYarpInterface::getTaskFrameAcceleration ( )

Definition at line 377 of file TaskYarpInterface.cpp.

Eigen::Vector3d TaskYarpInterface::getTaskFrameAngularAcceleration ( )

Definition at line 407 of file TaskYarpInterface.cpp.

Eigen::Vector3d TaskYarpInterface::getTaskFrameAngularVelocity ( )

Definition at line 397 of file TaskYarpInterface.cpp.

Eigen::Displacementd TaskYarpInterface::getTaskFrameDisplacement ( )

Definition at line 367 of file TaskYarpInterface.cpp.

Eigen::Vector3d TaskYarpInterface::getTaskFrameLinearAcceleration ( )

Definition at line 402 of file TaskYarpInterface.cpp.

Eigen::Vector3d TaskYarpInterface::getTaskFrameLinearVelocity ( )

Definition at line 392 of file TaskYarpInterface.cpp.

Eigen::Rotation3d TaskYarpInterface::getTaskFrameOrientation ( )

Definition at line 387 of file TaskYarpInterface.cpp.

Eigen::Vector3d TaskYarpInterface::getTaskFramePosition ( )

Definition at line 382 of file TaskYarpInterface.cpp.

Eigen::Twistd TaskYarpInterface::getTaskFrameVelocity ( )

Definition at line 372 of file TaskYarpInterface.cpp.

int TaskYarpInterface::getTaskHierarchyLevel ( )

Gets the defined Level for a task Cannot be changed at runtime .

Returns: The level.

Definition at line 37 of file TaskYarpInterface.cpp.

TASK_MODE TaskYarpInterface::getTaskMode ( )

Gets the current task mode. Either objective, constraint or undefined.

Parameters

tsk	A pointer to a single task.

Returns: The mode of that task.

Definition at line 108 of file TaskYarpInterface.cpp.

TaskState TaskYarpInterface::getTaskState ( )

Definition at line 254 of file TaskYarpInterface.cpp.

Eigen::VectorXd TaskYarpInterface::getWeight ( )

Gets the weights associated with the task. Often a task will have a single weight but it is still represented as a vector to be applied to each DoF of the task.

Returns: The vector of task weights.

Definition at line 243 of file TaskYarpInterface.cpp.

bool TaskYarpInterface::isActivated ( )

Check if the task is active as either an objective or a constraint.

Returns: A boolean indicating the task(s) activity.

Definition at line 119 of file TaskYarpInterface.cpp.

void TaskYarpInterface::publishTaskState ( )

Definition at line 278 of file TaskYarpInterface.cpp.

void TaskYarpInterface::setDamping ( double B )

Sets the damping, or damping (Kd) gain, of the task.

Parameters

K	The damping gain to set. Fills a diagonal matrix.

Definition at line 187 of file TaskYarpInterface.cpp.

void TaskYarpInterface::setDamping ( const VectorXd & B )

Sets the damping, or damping (Kd) gains, of the task.

Parameters

K	The damping gains to set for each DoF. Creates a diagonal matrix from K.

Definition at line 194 of file TaskYarpInterface.cpp.

void TaskYarpInterface::setDamping ( const MatrixXd & B )

Sets the damping, or damping (Kd) gains, of the task.

Parameters

K	The damping gains to set for the task. Off diagonal components will create damping correlations between the task DoF.

Definition at line 201 of file TaskYarpInterface.cpp.

void TaskYarpInterface::setDesiredTaskState ( const TaskState & newDesiredTaskState )

Definition at line 268 of file TaskYarpInterface.cpp.

void TaskYarpInterface::setDesiredTaskStateDirect ( const TaskState & newDesiredTaskState )

Definition at line 273 of file TaskYarpInterface.cpp.

void TaskYarpInterface::setStiffness ( double K )

Sets the stiffness, or proportional (Kp) gain, of the task.

Parameters

K	The proportional gain to set. Fills a diagonal matrix.

Definition at line 143 of file TaskYarpInterface.cpp.

void TaskYarpInterface::setStiffness ( const VectorXd & K )

Sets the stiffness, or proportional (Kp) gains, of the task.

Parameters

K	The proportional gains to set for each DoF. Creates a diagonal matrix from K.

Definition at line 152 of file TaskYarpInterface.cpp.

void TaskYarpInterface::setStiffness ( const MatrixXd & K )

Sets the stiffness, or proportional (Kp) gains, of the task.

Parameters

K	The proportional gains to set for the task. Off diagonal components will create stiffness correlations between the task DoF.

Definition at line 159 of file TaskYarpInterface.cpp.

void TaskYarpInterface::setTaskHierarchyLevel ( int level )

Definition at line 42 of file TaskYarpInterface.cpp.

void TaskYarpInterface::setWeight ( double weight )

Sets the weight for all DoF of a task.

Parameters

weight The weight to apply to all task DoF.

Definition at line 229 of file TaskYarpInterface.cpp.

void TaskYarpInterface::setWeight ( const Eigen::VectorXd & weights )

Sets the weights for each DoF of a task.

Parameters

weights A vector of weights to apply to each task DoF individually.

Definition at line 236 of file TaskYarpInterface.cpp.

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

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation