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

#include <gOcraCoMTaskManager.h>

Inheritance diagram for gocra::gOcraCoMTaskManager:

Collaboration diagram for gocra::gOcraCoMTaskManager:

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

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

	gOcraCoMTaskManager (GHCJTController &ctrl, const ocra::Model &model, const std::string &taskName, ocra::ECartesianDof axes, double stiffness, double damping, Eigen::Vector3d posDes, Eigen::Vector3d velDes, Eigen::Vector3d accDes)

	~gOcraCoMTaskManager ()

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

Definition at line 17 of file gOcraCoMTaskManager.h.

Constructor & Destructor Documentation

gocra::gOcraCoMTaskManager::gOcraCoMTaskManager	(	GHCJTController &	_ctrl,
		const ocra::Model &	_model,
		const std::string &	_taskName,
		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
_stiffness	Stiffness constant for task
_damping	Damping constant for task

Definition at line 14 of file gOcraCoMTaskManager.cpp.

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

Constructor with initial desired position (in 3D cartesian space)

Parameters

_ctrl	GHCJTController to connect to
_model	ocra model to setup the task
_taskName	Name of the task
_stiffness	Stiffness constant for task
_damping	Damping constant for task
_posDes	Vector for desired position

Definition at line 29 of file gOcraCoMTaskManager.cpp.

gocra::gOcraCoMTaskManager::gOcraCoMTaskManager	(	GHCJTController &	ctrl,
		const ocra::Model &	model,
		const std::string &	taskName,
		ocra::ECartesianDof	axes,
		double	stiffness,
		double	damping,
		Eigen::Vector3d	posDes,
		Eigen::Vector3d	velDes,
		Eigen::Vector3d	accDes
	)

gocra::gOcraCoMTaskManager::~gOcraCoMTaskManager ( )

Member Function Documentation

void gocra::gOcraCoMTaskManager::activate ( )

virtual

Activates the task

Implements gocra::gOcraTaskManagerBase.

Definition at line 140 of file gOcraCoMTaskManager.cpp.

void gocra::gOcraCoMTaskManager::deactivate ( )

virtual

Deactivates the task

Implements gocra::gOcraTaskManagerBase.

Definition at line 148 of file gOcraCoMTaskManager.cpp.

double gocra::gOcraCoMTaskManager::getDamping ( )

Gets the damping constant for this task

Returns: The damping for this task

Definition at line 131 of file gOcraCoMTaskManager.cpp.

double gocra::gOcraCoMTaskManager::getStiffness ( )

Gets the stiffness constant for this task

Returns: The stiffness for this task

Definition at line 112 of file gOcraCoMTaskManager.cpp.

Eigen::VectorXd gocra::gOcraCoMTaskManager::getTaskError ( )

virtual

Gets the error for this task (COM position error)

Reimplemented from gocra::gOcraTaskManagerBase.

Definition at line 156 of file gOcraCoMTaskManager.cpp.

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

Sets the damping for this task

Parameters

damping Desired damping

Definition at line 122 of file gOcraCoMTaskManager.cpp.

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

Sets the position for the task, only the translational position

Parameters

position Vector for desired position

Definition at line 79 of file gOcraCoMTaskManager.cpp.

void gocra::gOcraCoMTaskManager::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 90 of file gOcraCoMTaskManager.cpp.

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

Sets the stiffness for this task

Parameters

stiffness Desired stiffness

Definition at line 103 of file gOcraCoMTaskManager.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