#include <TaskConnection.h>

Classes
class	DesiredStateInputCallback

class	InputCallback

Public Member Functions
	TaskConnection ()

	TaskConnection (const std::string &destinationTaskName)

virtual	~TaskConnection ()

void	reconnect ()

void	disconnect ()

bool	activate ()

bool	deactivate ()

std::string	getPortName ()

bool	isActivated ()

Eigen::VectorXd	getTaskError ()

double	getTaskErrorNorm ()

void	setStiffness (double K)

void	setStiffness (const Eigen::VectorXd &K)

void	setStiffness (const Eigen::MatrixXd &K)

double	getStiffness ()

Eigen::MatrixXd	getStiffnessMatrix ()

void	setDamping (double B)

void	setDamping (const Eigen::VectorXd &B)

void	setDamping (const Eigen::MatrixXd &B)

double	getDamping ()

Eigen::MatrixXd	getDampingMatrix ()

void	setWeight (double weight)

void	setWeight (Eigen::VectorXd &weights)

Eigen::VectorXd	getWeight ()

bool	openControlPorts (bool connect=true)

std::string	getTaskName ()

ocra::Task::META_TASK_TYPE	getTaskType ()

std::string	getTaskTypeAsString ()

int	getTaskDimension ()

ocra::TaskState	getTaskState ()

ocra::TaskState	getDesiredTaskState ()

void	setDesiredTaskState (const ocra::TaskState &newDesiredTaskState)

void	setDesiredTaskStateDirect (const ocra::TaskState &newDesiredTaskState)

bool	closeControlPorts ()

std::string	getTaskOutputPortName ()

std::string	getTaskInputPortName ()

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 ()

void	queryTask (ocra::TASK_MESSAGE tag, yarp::os::Bottle &bottle)

Detailed Description

Definition at line 26 of file TaskConnection.h.

Constructor & Destructor Documentation

TaskConnection::TaskConnection ( )

Definition at line 6 of file TaskConnection.cpp.

TaskConnection::TaskConnection ( const std::string & destinationTaskName )

Definition at line 11 of file TaskConnection.cpp.

TaskConnection::~TaskConnection ( )

virtual

Definition at line 39 of file TaskConnection.cpp.

Member Function Documentation

bool TaskConnection::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 70 of file TaskConnection.cpp.

bool TaskConnection::closeControlPorts ( )

Definition at line 455 of file TaskConnection.cpp.

bool TaskConnection::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 82 of file TaskConnection.cpp.

void TaskConnection::disconnect ( )

Definition at line 46 of file TaskConnection.cpp.

double TaskConnection::getDamping ( )

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

Returns: The first diagonal entry of the damping matrix.

Definition at line 216 of file TaskConnection.cpp.

Eigen::MatrixXd TaskConnection::getDampingMatrix ( )

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

Returns: The damping matrix.

Definition at line 221 of file TaskConnection.cpp.

ocra::TaskState TaskConnection::getDesiredTaskState ( )

Definition at line 308 of file TaskConnection.cpp.

std::string TaskConnection::getPortName ( )

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

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

Definition at line 94 of file TaskConnection.cpp.

double TaskConnection::getStiffness ( )

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

Returns: The first diagonal entry of the stiffness matrix.

Definition at line 165 of file TaskConnection.cpp.

Eigen::MatrixXd TaskConnection::getStiffnessMatrix ( )

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

Returns: The stiffness matrix.

Definition at line 170 of file TaskConnection.cpp.

int TaskConnection::getTaskDimension ( )

Definition at line 269 of file TaskConnection.cpp.

Eigen::VectorXd TaskConnection::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 114 of file TaskConnection.cpp.

double TaskConnection::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 127 of file TaskConnection.cpp.

Eigen::Twistd TaskConnection::getTaskFrameAcceleration ( )

Definition at line 354 of file TaskConnection.cpp.

Eigen::Vector3d TaskConnection::getTaskFrameAngularAcceleration ( )

Definition at line 384 of file TaskConnection.cpp.

Eigen::Vector3d TaskConnection::getTaskFrameAngularVelocity ( )

Definition at line 374 of file TaskConnection.cpp.

Eigen::Displacementd TaskConnection::getTaskFrameDisplacement ( )

Definition at line 344 of file TaskConnection.cpp.

Eigen::Vector3d TaskConnection::getTaskFrameLinearAcceleration ( )

Definition at line 379 of file TaskConnection.cpp.

Eigen::Vector3d TaskConnection::getTaskFrameLinearVelocity ( )

Definition at line 369 of file TaskConnection.cpp.

Eigen::Rotation3d TaskConnection::getTaskFrameOrientation ( )

Definition at line 364 of file TaskConnection.cpp.

Eigen::Vector3d TaskConnection::getTaskFramePosition ( )

Definition at line 359 of file TaskConnection.cpp.

Eigen::Twistd TaskConnection::getTaskFrameVelocity ( )

Definition at line 349 of file TaskConnection.cpp.

std::string TaskConnection::getTaskInputPortName ( )

Definition at line 446 of file TaskConnection.cpp.

std::string ocra_recipes::TaskConnection::getTaskName ( )

inline

The name of the task we are connected to.

Returns: The name of the task we are connected to.

Definition at line 198 of file TaskConnection.h.

std::string TaskConnection::getTaskOutputPortName ( )

Definition at line 438 of file TaskConnection.cpp.

ocra::TaskState TaskConnection::getTaskState ( )

Definition at line 293 of file TaskConnection.cpp.

ocra::Task::META_TASK_TYPE TaskConnection::getTaskType ( )

The type of the task we are connected to.

Returns: The type of the task we are connected to.

Definition at line 277 of file TaskConnection.cpp.

std::string TaskConnection::getTaskTypeAsString ( )

Definition at line 285 of file TaskConnection.cpp.

Eigen::VectorXd TaskConnection::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 256 of file TaskConnection.cpp.

bool TaskConnection::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 102 of file TaskConnection.cpp.

bool TaskConnection::openControlPorts ( bool connect = true )

Opens the high speed task control ports.

Parameters

connect the TaskConnection ports to the highspeed Task control ports.

Returns: True if the ports open successfully and are connected.

Definition at line 389 of file TaskConnection.cpp.

void TaskConnection::queryTask	(	ocra::TASK_MESSAGE	tag,
		yarp::os::Bottle &	bottle
	)

Definition at line 475 of file TaskConnection.cpp.

void TaskConnection::reconnect ( )

Definition at line 60 of file TaskConnection.cpp.

void TaskConnection::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 183 of file TaskConnection.cpp.

void TaskConnection::setDamping ( const Eigen::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 TaskConnection.cpp.

void TaskConnection::setDamping ( const Eigen::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 205 of file TaskConnection.cpp.

void TaskConnection::setDesiredTaskState ( const ocra::TaskState & newDesiredTaskState )

Definition at line 325 of file TaskConnection.cpp.

void TaskConnection::setDesiredTaskStateDirect ( const ocra::TaskState & newDesiredTaskState )

Definition at line 333 of file TaskConnection.cpp.

void TaskConnection::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 132 of file TaskConnection.cpp.

void TaskConnection::setStiffness ( const Eigen::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 143 of file TaskConnection.cpp.

void TaskConnection::setStiffness ( const Eigen::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 154 of file TaskConnection.cpp.

void TaskConnection::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 234 of file TaskConnection.cpp.

void TaskConnection::setWeight ( 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 245 of file TaskConnection.cpp.

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

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation