Task Manager for partal joint posture task. More...

Inheritance diagram for gocra::gOcraPartialPostureTaskManager:

Collaboration diagram for gocra::gOcraPartialPostureTaskManager:

Public Member Functions
	gOcraPartialPostureTaskManager (GHCJTController &ctrl, const ocra::Model &model, const std::string &taskName, int fullStateType, Eigen::VectorXi &dofIndices, double stiffness, double damping)

	gOcraPartialPostureTaskManager (GHCJTController &ctrl, const ocra::Model &model, const std::string &taskName, int fullStateType, Eigen::VectorXi &dofIndices, double stiffness, double damping, Eigen::VectorXd &init_q)

	~gOcraPartialPostureTaskManager ()

void	setPosture (Eigen::VectorXd &q)

void	setPosture (Eigen::VectorXd &q, Eigen::VectorXd &qdot, Eigen::VectorXd &qddot)

void	activate ()

void	deactivate ()

Public Member Functions inherited from gocra::gOcraTaskManagerBase
	gOcraTaskManagerBase (gocra::GHCJTController &ctrl, const ocra::Model &model, const std::string &name)

virtual VectorXd	getTaskError ()

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 partal joint posture task.

Constructor & Destructor Documentation

gocra::gOcraPartialPostureTaskManager::gOcraPartialPostureTaskManager	(	GHCJTController &	_ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName,
		int	_fullStateType,
		Eigen::VectorXi &	_dofIndices,
		double	_stiffness,
		double	_damping
	)

Base constructor

Parameters

ctrl	GHCJTController to connect to
model	ocra model to setup the task
taskName	Name of the task
fullStateType	ocra::FullState enum specifying between (ocra::FullState::FULL_STATE, ocra::FullState::FREE_FLYER, ocra::FullState::INTERNAL)
dofIndices	Vector of indices for the DOFs to control
stiffness	Stiffness constant for task
damping	Damping constant for task

gocra::gOcraPartialPostureTaskManager::gOcraPartialPostureTaskManager	(	GHCJTController &	_ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName,
		int	_fullStateType,
		Eigen::VectorXi &	_dofIndices,
		double	_stiffness,
		double	_damping,
		Eigen::VectorXd &	_init_q
	)

Constructor with desired initial position

Parameters

ctrl	GHCJTController to connect to
model	ocra model to setup the task
taskName	Name of the task
fullStateType	ocra::FullState enum specifying between (ocra::FullState::FULL_STATE, ocra::FullState::FREE_FLYER, ocra::FullState::INTERNAL)
dofIndices	Vector of indices for the DOFs to control
stiffness	Stiffness constant for task
damping	Damping constant for task
init_q	Initial posture