Task Manager for the Center of Mass (CoM) task with the gOcra Controller. More...

Inheritance diagram for gocra::gOcraSegOrientationTaskManager:

Collaboration diagram for gocra::gOcraSegOrientationTaskManager:

Public Member Functions
	gOcraSegOrientationTaskManager (GHCJTController &ctrl, const ocra::Model &model, const std::string &taskName, const std::string &segmentName, double stiffness, double damping)

	gOcraSegOrientationTaskManager (GHCJTController &ctrl, const ocra::Model &model, const std::string &taskName, const std::string &segmentName, double stiffness, double damping, const Eigen::Rotation3d &targetPose)

	~gOcraSegOrientationTaskManager ()

void	setOrientation (const Eigen::Rotation3d &pos)

void	activate ()

void	deactivate ()

void	setStiffness (double stiffness)

double	getStiffness ()

void	setDamping (double damping)

double	getDamping ()

Eigen::VectorXd	getTaskError ()

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

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 the Center of Mass (CoM) task with the gOcra Controller.

Constructor & Destructor Documentation

gocra::gOcraSegOrientationTaskManager::gOcraSegOrientationTaskManager	(	GHCJTController &	_ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName,
		const std::string &	_segmentName,
		double	_stiffness,
		double	_damping
	)

Base constructor

Parameters

_ctrl	GHCJTController to connect to
_model	ocra model to setup the task
_taskName	Name of the task
_segmentName	Name of the segment for the task
_stiffness	Stiffness constant for task
_damping	Damping constant for task

gocra::gOcraSegOrientationTaskManager::gOcraSegOrientationTaskManager	(	GHCJTController &	_ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName,
		const std::string &	_segmentName,
		double	_stiffness,
		double	_damping,
		const Eigen::Rotation3d &	_orientationDes
	)

Constructor with desired pose

Parameters

_ctrl	GHCJTController to connect to
_model	ocra model to setup the task
_taskName	Name of the task
_segmentName	Name of the segment for the task
_stiffness	Stiffness constant for task
_damping	Damping constant for task
_orientationDes	Initial orientation for task