mc_control::CompletionCriteria Struct Reference

#include <mc_control/CompletionCriteria.h>

Public Member Functions
bool	completed (const mc_tasks::MetaTask &task)
void	configure (const mc_tasks::MetaTask &task, double dt, const mc_rtc::Configuration &config)
const std::string &	output () const

Detailed Description

A generic MetaTask completion criteria

Possible criteria:

• eval() norm is below a certain threshold
• speed() norm is below a certain threshold
• a given timeout (provided in seconds) has elapsed since the start

The default criteria is always satisfied (i.e. no criteria)

These criteria can be combined with AND and OR

Example:

# 5 seconds timeout
{
  "timeout": 5.0
}
# eval().norm() < 1e-3 || timeout 20s
{
  "OR": [
   { "eval": 1e-3 },
   { "timeout": 20.0 }
  ]
}
# ( eval().norm() < 1e-3 && speed().norm() < 1e-6 ) || timeout 30s
{
  "OR": [
   {
     "AND": [
       { "eval": 1e-3 },
       { "speed": 1e-6 }
     ]
   },
   { "timeout": 30.0 }
  ]
}

Member Function Documentation

completed()

bool mc_control::CompletionCriteria::completed

(

const mc_tasks::MetaTask &

task

)

Given a task returns true if that task fits the completion criteria

configure()

void mc_control::CompletionCriteria::configure	(	const mc_tasks::MetaTask &	task,
		double	dt,
		const mc_rtc::Configuration &	config
	)

Given a MetaTask and a Configuration, generate the criteria

output()

const std::string& mc_control::CompletionCriteria::output

(

)

const

Returns the criteria that achieved the completion

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The documentation for this struct was generated from the following file:

• include/mc_control/CompletionCriteria.h