ocra::TaskConstructionManager Class Reference

#include <TaskConstructionManager.h>

Public Member Functions
	TaskConstructionManager ()
	TaskConstructionManager (Model::Ptr model, Controller::Ptr controller, std::vector< TaskBuilderOptions > optionsVector)
	TaskConstructionManager (Model::Ptr model, Controller::Ptr controller, const std::string &optionsXmlFilePath)
virtual	~TaskConstructionManager ()
void	addTasksToController (Model::Ptr model, Controller::Ptr controller, std::vector< TaskBuilderOptions > optionsVector)
TaskBuilder::Ptr	getBuilder (TaskBuilderOptions options, Model::Ptr model)
std::vector< TaskBuilderOptions >	parseTaskOptionsFromXml (const std::string &optionsXmlFilePath)

Detailed Description

Definition at line 42 of file TaskConstructionManager.h.

Constructor & Destructor Documentation

TaskConstructionManager::TaskConstructionManager

(

)

Definition at line 6 of file TaskConstructionManager.cpp.

TaskConstructionManager::TaskConstructionManager	(	Model::Ptr	model,
		Controller::Ptr	controller,
		std::vector< TaskBuilderOptions >	optionsVector
	)

Definition at line 11 of file TaskConstructionManager.cpp.

TaskConstructionManager::TaskConstructionManager	(	Model::Ptr	model,
		Controller::Ptr	controller,
		const std::string &	optionsXmlFilePath
	)

Definition at line 16 of file TaskConstructionManager.cpp.

TaskConstructionManager::~TaskConstructionManager ( )

virtual

Definition at line 21 of file TaskConstructionManager.cpp.

Member Function Documentation

void TaskConstructionManager::addTasksToController	(	Model::Ptr	model,
		Controller::Ptr	controller,
		std::vector< TaskBuilderOptions >	optionsVector
	)

This method is called during the instantiation of an object of type TaskConstructionManager when the corresponding parameters are passed to the constructor. For every task specified through XML it creates a corresponding TaskBuilder object, builds the task, then tells the Controller to add this task to its stack of tasks and finally specifies whether the task is an objective or a constraint, what its level, weight, stiffness and damping. We call this, setting the "task parameters".

Parameters

model	Pointer to ocra model.
controller	Pointer to ocra controller.
optionsVector	A vector of N TaskBuilderOptions elements, where N is the number of tasks described in the taskSet XML file.

Definition at line 26 of file TaskConstructionManager.cpp.

TaskBuilder::Ptr TaskConstructionManager::getBuilder	(	TaskBuilderOptions	options,
		Model::Ptr	model
	)

First calls correctArticularVariables on the parsed options of a single task. Depending on the type of this task it will then return a pointer to a task-stype-pecific TaskBuilder class. Examples of these specific classes are: CartesianTaskBuilder, PoseTaskBuilder, OrientationTaskBuilder, ComTaskBuilder, FullPostureTaskBuilder, PartialPostureTaskBuilder and PointContactTaskBuilder.

Parameters

options	Options for a single task.
model	Robot's OCRA model.

Returns

Pointer to the task-type-specific TaskBuilder.

Definition at line 38 of file TaskConstructionManager.cpp.

std::vector< TaskBuilderOptions > TaskConstructionManager::parseTaskOptionsFromXml

(

const std::string &

optionsXmlFilePath

)

Given an XML description of control tasks it first checks the XML existance and then parses each task description through TaskConstructionManager::parseTaskOptionsFromXml(TiXmlDocument* newTasksFile).

Parameters

optionsXmlFilePath

Full path to XML tasks description.

Returns

A vector of elements of type TaskBuilderOptions.

See also

TaskConstructionManager::parseTaskOptionsFromXml(TiXmlDocument* newTasksFile)

Definition at line 63 of file TaskConstructionManager.cpp.

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

• TaskConstructionManager.h
• TaskConstructionManager.cpp