Task Manager for the cartesian position of a specified segment. More...

#include <gOcraSegCartesianTaskManager.h>

Inheritance diagram for gocra::gOcraSegCartesianTaskManager:

Collaboration diagram for gocra::gOcraSegCartesianTaskManager:

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

	gOcraSegCartesianTaskManager (GHCJTController &ctrl, const ocra::Model &model, const std::string &taskName, const std::string &segmentName, const Eigen::Vector3d &segPoint_Local, ocra::ECartesianDof axes, double stiffness, double damping)

	gOcraSegCartesianTaskManager (GHCJTController &ctrl, const ocra::Model &model, const std::string &taskName, const std::string &segmentName, ocra::ECartesianDof axes, double stiffness, double damping, const Eigen::Vector3d &targetPose)

	gOcraSegCartesianTaskManager (GHCJTController &ctrl, const ocra::Model &model, const std::string &taskName, const std::string &segmentName, const Eigen::Vector3d &segPoint_Local, ocra::ECartesianDof axes, double stiffness, double damping, const Eigen::Vector3d &targetPose)

	~gOcraSegCartesianTaskManager ()

void	setState (const Eigen::Vector3d &position)

void	setState (const Eigen::Vector3d &position, const Eigen::Vector3d &velocity, const Eigen::Vector3d &acceleration)

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 cartesian position of a specified segment.

Definition at line 17 of file gOcraSegCartesianTaskManager.h.

Constructor & Destructor Documentation

gocra::gOcraSegCartesianTaskManager::gOcraSegCartesianTaskManager	(	GHCJTController &	_ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName,
		const std::string &	_segmentName,
		ocra::ECartesianDof	_axes,
		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
_axes	The axes used for the task
_stiffness	Stiffness constant for task
_damping	Damping constant for task

Definition at line 16 of file gOcraSegCartesianTaskManager.cpp.

gocra::gOcraSegCartesianTaskManager::gOcraSegCartesianTaskManager	(	GHCJTController &	_ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName,
		const std::string &	_segmentName,
		const Eigen::Vector3d &	_segPoint_Local,
		ocra::ECartesianDof	_axes,
		double	_stiffness,
		double	_damping
	)

Constructor with the specifying the point of reference on the segment to track

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
_segPoint_Local	The point to track the task in local frame
_axes	The axes used for the task
_stiffness	Stiffness constant for task
_damping	Damping constant for task

Definition at line 33 of file gOcraSegCartesianTaskManager.cpp.

gocra::gOcraSegCartesianTaskManager::gOcraSegCartesianTaskManager	(	GHCJTController &	_ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName,
		const std::string &	_segmentName,
		ocra::ECartesianDof	_axes,
		double	_stiffness,
		double	_damping,
		const Eigen::Vector3d &	_poseDes
	)

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
_axes	The axes used for the task
_stiffness	Stiffness constant for task
_damping	Damping constant for task
_poseDes	Initial pose (cartesian) for task

Definition at line 50 of file gOcraSegCartesianTaskManager.cpp.

gocra::gOcraSegCartesianTaskManager::gOcraSegCartesianTaskManager	(	GHCJTController &	ctrl,
		const ocra::Model &	model,
		const std::string &	taskName,
		const std::string &	segmentName,
		const Eigen::Vector3d &	segPoint_Local,
		ocra::ECartesianDof	axes,
		double	stiffness,
		double	damping,
		const Eigen::Vector3d &	targetPose
	)

gocra::gOcraSegCartesianTaskManager::~gOcraSegCartesianTaskManager ( )

Member Function Documentation

void gocra::gOcraSegCartesianTaskManager::activate ( )

virtual

Activates the task

Implements gocra::gOcraTaskManagerBase.

Definition at line 165 of file gOcraSegCartesianTaskManager.cpp.

void gocra::gOcraSegCartesianTaskManager::deactivate ( )

virtual

Deactivates the task

Implements gocra::gOcraTaskManagerBase.

Definition at line 173 of file gOcraSegCartesianTaskManager.cpp.

double gocra::gOcraSegCartesianTaskManager::getDamping ( )

Gets the damping constant for this task

Returns: The damping for this task

Definition at line 156 of file gOcraSegCartesianTaskManager.cpp.

double gocra::gOcraSegCartesianTaskManager::getStiffness ( )

Gets the stiffness constant for this task

Returns: The stiffness for this task

Definition at line 137 of file gOcraSegCartesianTaskManager.cpp.

Eigen::VectorXd gocra::gOcraSegCartesianTaskManager::getTaskError ( )

virtual

Gets the error for this task (Cartesian error)

Reimplemented from gocra::gOcraTaskManagerBase.

Definition at line 181 of file gOcraSegCartesianTaskManager.cpp.

void gocra::gOcraSegCartesianTaskManager::setDamping ( double damping )

Sets the damping for this task

Parameters

damping Desired damping

Definition at line 147 of file gOcraSegCartesianTaskManager.cpp.

void gocra::gOcraSegCartesianTaskManager::setState ( const Eigen::Vector3d & position )

Sets the position for the task, only the translational position

Parameters

position Vector for desired position

Definition at line 105 of file gOcraSegCartesianTaskManager.cpp.

void gocra::gOcraSegCartesianTaskManager::setState	(	const Eigen::Vector3d &	position,
		const Eigen::Vector3d &	velocity,
		const Eigen::Vector3d &	acceleration
	)

Sets the position, linear velocity and linear acceleration for the task

Parameters

position	Vector for desired position
velocity	Vector for desired linear velocity
acceleration	Vector for desired linear acceleration

Definition at line 116 of file gOcraSegCartesianTaskManager.cpp.

void gocra::gOcraSegCartesianTaskManager::setStiffness ( double stiffness )

Sets the stiffness for this task

Parameters

stiffness Desired stiffness

Definition at line 128 of file gOcraSegCartesianTaskManager.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation