Interface for controllers. More...

#include <Controller.h>

Inheritance diagram for ocra::Controller:

Collaboration diagram for ocra::Controller:

Classes
struct	Pimpl

Public Member Functions
virtual	~Controller ()=0

void	printInfo (int level, const std::string &filename)

void	setMaxJointTorques (const Eigen::VectorXd &tau_max)

const Eigen::VectorXd &	getMaxJointTorques () const

void	addTask (std::shared_ptr< Task > task)

void	addTasks (const std::vector< std::shared_ptr< Task >> &tasks)

void	removeTask (const std::string &taskName)

void	removeTasks (const std::vector< std::string > tasks)

std::vector< std::string >	getTaskNames ()

std::string	getTaskPortName (const std::string &taskName)

std::vector< std::string >	getTaskPortNames ()

void	addContactSet (const ContactSet &contacts)

std::shared_ptr< Task >	getTask (const std::string &name)

const std::shared_ptr< Task >	getTask (const std::string &name) const

const std::map< std::string, std::shared_ptr< Task > > &	getTasks () const

void	computeOutput (Eigen::VectorXd &tau)
	Computation of output torques based on the tasks added to the controller. More...

const Eigen::VectorXd &	computeOutput ()

std::shared_ptr< Task >	createContactTask (const std::string &name, PointContactFeature::Ptr feature, double mu, double margin) const
	Creates a contact task. More...


std::shared_ptr< Task >	createTask (const std::string &name, Feature::Ptr feature, Feature::Ptr featureDes) const
	Generic task creation. More...

std::shared_ptr< Task >	createTask (const std::string &name, Feature::Ptr feature) const

Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)

const std::string &	getName () const

virtual	~NamedInstance ()

Protected Member Functions
	Controller (const std::string &name, Model &model)

const std::vector< std::shared_ptr< Task > > &	getActiveTasks () const

void	setErrorFlag (int eflag)

void	setErrorMessage (const std::string &msg)

virtual void	doComputeOutput (Eigen::VectorXd &tau)=0

virtual void	doAddTask (std::shared_ptr< Task > task)=0

virtual void	doAddContactSet (const ContactSet &contacts)=0

virtual void	doSetMaxJointTorques (const Eigen::VectorXd &tauMax)

virtual std::shared_ptr< Task >	doCreateTask (const std::string &name, Feature::Ptr feature, Feature::Ptr featureDes) const =0

virtual std::shared_ptr< Task >	doCreateTask (const std::string &name, Feature::Ptr feature) const =0

virtual std::shared_ptr< Task >	doCreateContactTask (const std::string &name, PointContactFeature::Ptr feature, double mu, double margin) const =0

enum	ErrorFlag { SUCCESS = 0, CRITICAL_ERROR = 1, STATIC_EQ_LOSS = 2, DYN_EQ_LOSS = 4, INSTABILITY = 8 + 1, OTHER = 16 }
	Error handling. More...

void	enableErrorHandling ()

void	disableErrorHandling ()

bool	isErrorHandlingEnabled () const

const std::string &	getErrorMessage () const

void	clearErrorFlag ()

int	getErrorFlag () const

void	setMaxJointTorqueNorm (double maxTau)

double	getMaxJointTorqueNorm () const

void	setFixedLinkForOdometry (std::string newFixedLink)

void	setUseOdometry (bool useOdometry)

void	getFixedLinkForOdometry (std::string &currentFixedLink)

void	setContactState (int isInLeftSupport, int isInRightSupport)

void	getContactState (int &leftSupport, int &rightSupport)

Detailed Description

Interface for controllers.

This class can be derived to implement control laws for a manikin.

Definition at line 53 of file Controller.h.

Member Enumeration Documentation

enum ocra::Controller::ErrorFlag

Error handling.

Enumerator
SUCCESS
CRITICAL_ERROR
STATIC_EQ_LOSS
DYN_EQ_LOSS
INSTABILITY
OTHER

Definition at line 95 of file Controller.h.

Constructor & Destructor Documentation

ocra::Controller::Controller	(	const std::string &	name,
		Model &	model
	)

protected

Definition at line 106 of file Controller.cpp.

ocra::Controller::~Controller ( )

pure virtual

Definition at line 115 of file Controller.cpp.

Member Function Documentation

void ocra::Controller::addContactSet ( const ContactSet & contacts )

Definition at line 209 of file Controller.cpp.

void ocra::Controller::addTask ( std::shared_ptr< Task > task )

Definition at line 184 of file Controller.cpp.

void ocra::Controller::addTasks ( const std::vector< std::shared_ptr< Task >> & tasks )

Definition at line 191 of file Controller.cpp.

void ocra::Controller::clearErrorFlag ( )

Definition at line 333 of file Controller.cpp.

void ocra::Controller::computeOutput ( Eigen::VectorXd & tau )

Computation of output torques based on the tasks added to the controller.

Calls the method doComputeOutput, which can be overloaded to implement specific control laws to realize the added tasks.

Definition at line 258 of file Controller.cpp.

const Eigen::VectorXd & ocra::Controller::computeOutput ( )

Definition at line 252 of file Controller.cpp.

std::shared_ptr< Task > ocra::Controller::createContactTask	(	const std::string &	name,
		PointContactFeature::Ptr	feature,
		double	mu,
		double	margin
	)		const

Creates a contact task.

The parameters describe the friction cone parameters for the force applied by the manikin on the environment.

Definition at line 378 of file Controller.cpp.

std::shared_ptr< Task > ocra::Controller::createTask	(	const std::string &	name,
		Feature::Ptr	feature,
		Feature::Ptr	featureDes
	)		const

Generic task creation.

Definition at line 354 of file Controller.cpp.

std::shared_ptr< Task > ocra::Controller::createTask	(	const std::string &	name,
		Feature::Ptr	feature
	)		const

Definition at line 365 of file Controller.cpp.

void ocra::Controller::disableErrorHandling ( )

Definition at line 318 of file Controller.cpp.

virtual void ocra::Controller::doAddContactSet ( const ContactSet & contacts )

protectedpure virtual

Implemented in wocra::WocraController, gocra::GHCJTController, and hocra::HocraController.

virtual void ocra::Controller::doAddTask ( std::shared_ptr< Task > task )

protectedpure virtual

Implemented in wocra::WocraController.

virtual void ocra::Controller::doComputeOutput ( Eigen::VectorXd & tau )

protectedpure virtual

Implemented in wocra::WocraController, and gocra::GHCJTController.

virtual std::shared_ptr<Task> ocra::Controller::doCreateContactTask	(	const std::string &	name,
		PointContactFeature::Ptr	feature,
		double	mu,
		double	margin
	)		const

protectedpure virtual

Implemented in wocra::WocraController, and gocra::GHCJTController.

virtual std::shared_ptr<Task> ocra::Controller::doCreateTask	(	const std::string &	name,
		Feature::Ptr	feature,
		Feature::Ptr	featureDes
	)		const

protectedpure virtual

Implemented in wocra::WocraController, and gocra::GHCJTController.

virtual std::shared_ptr<Task> ocra::Controller::doCreateTask	(	const std::string &	name,
		Feature::Ptr	feature
	)		const

protectedpure virtual

Implemented in wocra::WocraController, and gocra::GHCJTController.

void ocra::Controller::doSetMaxJointTorques ( const Eigen::VectorXd & tauMax )

protectedvirtual

Definition at line 177 of file Controller.cpp.

void ocra::Controller::enableErrorHandling ( )

Definition at line 313 of file Controller.cpp.

const std::vector< std::shared_ptr< Task > > & ocra::Controller::getActiveTasks ( ) const

protected

Definition at line 394 of file Controller.cpp.

void ocra::Controller::getContactState	(	int &	leftSupport,
		int &	rightSupport
	)

Definition at line 306 of file Controller.cpp.

int ocra::Controller::getErrorFlag ( ) const

Definition at line 339 of file Controller.cpp.

const std::string & ocra::Controller::getErrorMessage ( ) const

Definition at line 328 of file Controller.cpp.

void ocra::Controller::getFixedLinkForOdometry ( std::string & currentFixedLink )

inline

Definition at line 115 of file Controller.h.

double ocra::Controller::getMaxJointTorqueNorm ( ) const

Definition at line 349 of file Controller.cpp.

const VectorXd & ocra::Controller::getMaxJointTorques ( ) const

Definition at line 179 of file Controller.cpp.

std::shared_ptr< Task > ocra::Controller::getTask ( const std::string & name )

Definition at line 214 of file Controller.cpp.

const std::shared_ptr< Task > ocra::Controller::getTask ( const std::string & name ) const

Definition at line 247 of file Controller.cpp.

std::vector< std::string > ocra::Controller::getTaskNames ( )

Definition at line 219 of file Controller.cpp.

std::string ocra::Controller::getTaskPortName ( const std::string & taskName )

Definition at line 228 of file Controller.cpp.

std::vector< std::string > ocra::Controller::getTaskPortNames ( )

Definition at line 238 of file Controller.cpp.

const std::map< std::string, std::shared_ptr< Task > > & ocra::Controller::getTasks ( ) const

Definition at line 411 of file Controller.cpp.

bool ocra::Controller::isErrorHandlingEnabled ( ) const

Definition at line 323 of file Controller.cpp.

void ocra::Controller::printInfo	(	int	level,
		const std::string &	filename
	)

Definition at line 119 of file Controller.cpp.

void ocra::Controller::removeTask ( const std::string & taskName )

Definition at line 197 of file Controller.cpp.

void ocra::Controller::removeTasks ( const std::vector< std::string > tasks )

Definition at line 203 of file Controller.cpp.

void ocra::Controller::setContactState	(	int	isInLeftSupport,
		int	isInRightSupport
	)

inline

Definition at line 116 of file Controller.h.

void ocra::Controller::setErrorFlag ( int eflag )

protected

Definition at line 401 of file Controller.cpp.

void ocra::Controller::setErrorMessage ( const std::string & msg )

protected

Definition at line 406 of file Controller.cpp.

void ocra::Controller::setFixedLinkForOdometry ( std::string newFixedLink )

Definition at line 300 of file Controller.cpp.

void ocra::Controller::setMaxJointTorqueNorm ( double maxTau )

Definition at line 344 of file Controller.cpp.

void ocra::Controller::setMaxJointTorques ( const Eigen::VectorXd & tau_max )

Definition at line 172 of file Controller.cpp.

void ocra::Controller::setUseOdometry ( bool useOdometry )

inline

Definition at line 114 of file Controller.h.

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

Classes

Public Member Functions

Protected Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation