Add or remove a contact. More...

#include <mc_tasks/AddRemoveContactTask.h>

Inheritance diagram for mc_tasks::AddRemoveContactTask:

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Collaboration diagram for mc_tasks::AddRemoveContactTask:

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Public Member Functions
	AddRemoveContactTask (const mc_rbdyn::Robots &robots, std::shared_ptr< mc_solver::BoundedSpeedConstr > constSpeedConstr, const mc_rbdyn::Contact &contact, double direction, double speed=0.01, double stiffness=2, double weight=1000, Eigen::Vector3d *userT_0_s=nullptr)
	General constructor. More...

	AddRemoveContactTask (const mc_solver::QPSolver &solver, const mc_rbdyn::Contact &contact, double direction, double speed=0.01, double stiffness=2, double weight=1000, Eigen::Vector3d *userT_0_s=nullptr)
	General constructor with self-managed bounded speed constraint. More...

void	direction (double direction)
	Set the displacement direction. More...

double	speed ()
	Get the desired dislacement speed. More...

void	speed (double s)
	Set the desired dislacement speed. More...

double	stiffness ()
	Get the task stiffness. More...

double	weight ()
	Get the task weight. More...

Eigen::Vector3d	velError ()
	Get the velocity error. More...

void	dimWeight (const Eigen::VectorXd &dimW) override
	Set the task's dimension weight vector. More...

Eigen::VectorXd	dimWeight () const override
	Get the current task's dim weight vector. More...

Eigen::VectorXd	eval () const override
	Returns the task error. More...

Eigen::VectorXd	speed () const override
	Returns the task velocity. More...

Public Member Functions inherited from mc_tasks::MetaTask
	MetaTask ()

virtual	~MetaTask ()

const std::string &	type () const

virtual void	name (const std::string &name)

const std::string &	name () const

virtual void	load (mc_solver::QPSolver &solver, const mc_rtc::Configuration &config)
	Load parameters from a Configuration object. More...

size_t	iterInSolver () const noexcept
	Get the number of iterations since the task was added to the solver. More...

void	resetIterInSolver () noexcept
	Set the number of iterations since the task was added to the solver to zero. More...

void	incrementIterInSolver () noexcept
	Increment the number of iterations since the task was added to the solver. More...

Backend	backend () const noexcept

Public Attributes
const mc_rbdyn::Robots &	robots

unsigned int	robotIndex

unsigned int	envIndex

std::shared_ptr< mc_solver::BoundedSpeedConstr >	constSpeedConstr

mc_rbdyn::SurfacePtr	robotSurf

unsigned int	robotBodyIndex

sva::PTransformd	targetTf

std::string	bodyId

Eigen::Matrix6d	dofMat

Eigen::Vector6d	speedMat

Eigen::Vector3d	normal

double	stiffness_

double	weight_

double	speed_

double	direction_

Eigen::Vector3d	targetSpeed

mc_rtc::void_ptr	impl_

double	targetVelWeight

Additional Inherited Members
Public Types inherited from mc_tasks::MetaTask
using	Backend = mc_solver::QPSolver::Backend

Protected Member Functions inherited from mc_tasks::MetaTask
virtual void	addToLogger (mc_rtc::Logger &)

virtual void	removeFromLogger (mc_rtc::Logger &)

virtual void	addToGUI (mc_rtc::gui::StateBuilder &)

virtual void	removeFromGUI (mc_rtc::gui::StateBuilder &)

virtual std::function< bool(const mc_tasks::MetaTask &task, std::string &)>	buildCompletionCriteria (double dt, const mc_rtc::Configuration &config) const

Static Protected Member Functions inherited from mc_tasks::MetaTask
static void	addToSolver (MetaTask &t, mc_solver::QPSolver &solver)

static void	removeFromSolver (MetaTask &t, mc_solver::QPSolver &solver)

static void	update (MetaTask &t, mc_solver::QPSolver &solver)

static void	addToLogger (MetaTask &t, mc_rtc::Logger &logger)

static void	removeFromLogger (MetaTask &t, mc_rtc::Logger &logger)

static void	addToGUI (MetaTask &t, mc_rtc::gui::StateBuilder &gui)

static void	removeFromGUI (MetaTask &t, mc_rtc::gui::StateBuilder &gui)

static void	ensureHasJoints (const mc_rbdyn::Robot &robot, const std::vector< std::string > &joints, const std::string &prefix)

Protected Attributes inherited from mc_tasks::MetaTask
Backend	backend_

std::string	type_

std::string	name_

size_t	iterInSolver_ = 0

Detailed Description

Add or remove a contact.

The goal of this task is to move a robot's surface towards a contact or away from a contact depending on construction parameters.

The robot's surface will move along its normal axis. It is the programmer responsibility to stop the task when the desired destination has been reached.

Constructor & Destructor Documentation

◆ AddRemoveContactTask() [1/2]

mc_tasks::AddRemoveContactTask::AddRemoveContactTask	(	const mc_rbdyn::Robots &	robots,
		std::shared_ptr< mc_solver::BoundedSpeedConstr >	constSpeedConstr,
		const mc_rbdyn::Contact &	contact,
		double	direction,
		double	speed = `0.01`,
		double	stiffness = `2`,
		double	weight = `1000`,
		Eigen::Vector3d *	userT_0_s = `nullptr`
	)

General constructor.

Constructs an AddRemoveContactTask using information passed by the programmer

Parameters

robots	Robots involved in the task
constSpeedConstr	Used by the solver to constraint the surface movement
contact	Contact that will be added/removed
direction	Direction of displacement
speed	Speed of the displacement
stiffness	Stiffness of the task
weight	Weight of the task
userT_0_s	If provided, overrides the chosen normal direction

◆ AddRemoveContactTask() [2/2]

mc_tasks::AddRemoveContactTask::AddRemoveContactTask	(	const mc_solver::QPSolver &	solver,
		const mc_rbdyn::Contact &	contact,
		double	direction,
		double	speed = `0.01`,
		double	stiffness = `2`,
		double	weight = `1000`,
		Eigen::Vector3d *	userT_0_s = `nullptr`
	)

General constructor with self-managed bounded speed constraint.

Constructs an AddRemoveContactTask using information passed by the programmer. No mc_solver::BoundedSpeedConstr has to be passed. Instead the constraint is created and managed by the task.

Parameters

solver	Solver where the task will be used
contact	Contact that will be added/removed
direction	Direction of displacement
speed	Speed of the displacement
stiffness	Stiffness of the task
weight	Weight of the task
userT_0_s	if provided, overrides the chosen normal direction

Member Function Documentation

◆ dimWeight() [1/2]

Eigen::VectorXd mc_tasks::AddRemoveContactTask::dimWeight ( ) const

overridevirtual

Get the current task's dim weight vector.

Implements mc_tasks::MetaTask.

◆ dimWeight() [2/2]

void mc_tasks::AddRemoveContactTask::dimWeight ( const Eigen::VectorXd & dimW )

overridevirtual

Set the task's dimension weight vector.

It is the caller responsibility to ensure the dimensionality fits the underlying tasks' error function

Parameters

dimW	The new tasks's dimension weight vector

Implements mc_tasks::MetaTask.

◆ direction()

void mc_tasks::AddRemoveContactTask::direction ( double direction )

Set the displacement direction.

Parameters

direction Direction of the displacement

◆ eval()

Eigen::VectorXd mc_tasks::AddRemoveContactTask::eval ( ) const

overridevirtual

Returns the task error.

The vector's dimensions depend on the underlying task

Implements mc_tasks::MetaTask.

◆ speed() [1/3]

double mc_tasks::AddRemoveContactTask::speed ( )

inline

Get the desired dislacement speed.

◆ speed() [2/3]

Eigen::VectorXd mc_tasks::AddRemoveContactTask::speed ( ) const

overridevirtual

Returns the task velocity.

The vector's dimensions depend on the underlying task

Implements mc_tasks::MetaTask.

◆ speed() [3/3]

void mc_tasks::AddRemoveContactTask::speed ( double s )

Set the desired dislacement speed.

◆ stiffness()

double mc_tasks::AddRemoveContactTask::stiffness ( )

inline

Get the task stiffness.

◆ velError()

Eigen::Vector3d mc_tasks::AddRemoveContactTask::velError ( )

Get the velocity error.

Returns: Velocity error of the LinVelocity task

◆ weight()

double mc_tasks::AddRemoveContactTask::weight ( )

inline

Get the task weight.

Member Data Documentation

◆ bodyId

std::string mc_tasks::AddRemoveContactTask::bodyId

◆ constSpeedConstr

std::shared_ptr<mc_solver::BoundedSpeedConstr> mc_tasks::AddRemoveContactTask::constSpeedConstr

◆ direction_

double mc_tasks::AddRemoveContactTask::direction_

◆ dofMat

Eigen::Matrix6d mc_tasks::AddRemoveContactTask::dofMat

◆ envIndex

unsigned int mc_tasks::AddRemoveContactTask::envIndex

◆ impl_

mc_rtc::void_ptr mc_tasks::AddRemoveContactTask::impl_

◆ normal

Eigen::Vector3d mc_tasks::AddRemoveContactTask::normal

◆ robotBodyIndex

unsigned int mc_tasks::AddRemoveContactTask::robotBodyIndex

◆ robotIndex

unsigned int mc_tasks::AddRemoveContactTask::robotIndex

◆ robots

const mc_rbdyn::Robots& mc_tasks::AddRemoveContactTask::robots

◆ robotSurf

mc_rbdyn::SurfacePtr mc_tasks::AddRemoveContactTask::robotSurf

◆ speed_

double mc_tasks::AddRemoveContactTask::speed_

◆ speedMat

Eigen::Vector6d mc_tasks::AddRemoveContactTask::speedMat

◆ stiffness_

double mc_tasks::AddRemoveContactTask::stiffness_

◆ targetSpeed

Eigen::Vector3d mc_tasks::AddRemoveContactTask::targetSpeed

◆ targetTf

sva::PTransformd mc_tasks::AddRemoveContactTask::targetTf

◆ targetVelWeight

double mc_tasks::AddRemoveContactTask::targetVelWeight

◆ weight_

double mc_tasks::AddRemoveContactTask::weight_

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

include/mc_tasks/AddRemoveContactTask.h

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AddRemoveContactTask() [1/2]

◆ AddRemoveContactTask() [2/2]

Member Function Documentation

◆ dimWeight() [1/2]

◆ dimWeight() [2/2]

◆ direction()

◆ eval()

◆ speed() [1/3]

◆ speed() [2/3]

◆ speed() [3/3]

◆ stiffness()

◆ velError()

◆ weight()

Member Data Documentation

◆ bodyId

◆ constSpeedConstr

◆ direction_

◆ dofMat

◆ envIndex

◆ impl_

◆ normal

◆ robotBodyIndex

◆ robotIndex

◆ robots

◆ robotSurf

◆ speed_

◆ speedMat

◆ stiffness_

◆ targetSpeed

◆ targetTf

◆ targetVelWeight

◆ weight_