Controls an end-effector. More...

#include <mc_tasks/EndEffectorTask.h>

Inheritance diagram for mc_tasks::EndEffectorTask:

Collaboration diagram for mc_tasks::EndEffectorTask:

Public Member Functions
	EndEffectorTask (const mc_rbdyn::RobotFrame &frame, double stiffness=2.0, double weight=1000.0)
	Constructor. More...

	EndEffectorTask (const std::string &bodyName, const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness=2.0, double weight=1000.0)
	Constructor. More...

void	reset () override
	Reset the task. More...

virtual void	add_ef_pose (const sva::PTransformd &dtr)
	Increment the target position. More...

virtual void	set_ef_pose (const sva::PTransformd &tf)
	Change the target position. More...

virtual sva::PTransformd	get_ef_pose ()
	Returns the current target positions. 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...

void	selectActiveJoints (mc_solver::QPSolver &solver, const std::vector< std::string > &activeJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &activeDofs={}) override
	Setup an active joints selector. More...

void	selectUnactiveJoints (mc_solver::QPSolver &solver, const std::vector< std::string > &unactiveJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &unactiveDofs={}) override
	Setup an unactive joints selector. More...

void	resetJointsSelector (mc_solver::QPSolver &solver) override
	Reset active joints selection. More...

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

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

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

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

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

const std::string &	name () const

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

virtual	~MetaTask ()

const std::string &	type () const

const std::string &	name () const

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
std::shared_ptr< mc_tasks::PositionTask >	positionTask

std::shared_ptr< mc_tasks::OrientationTask >	orientationTask

sva::PTransformd	curTransform

Protected Member Functions
void	removeFromSolver (mc_solver::QPSolver &solver) override
	Remove the task from a solver. More...

void	addToSolver (mc_solver::QPSolver &solver) override
	Add the task to a solver. More...

void	update (mc_solver::QPSolver &) override
	Update the task. More...

void	addToLogger (mc_rtc::Logger &logger) override

void	removeFromLogger (mc_rtc::Logger &logger) override

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

const mc_rbdyn::RobotFrame &	frame () const noexcept

Protected Member Functions inherited from mc_tasks::MetaTask
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

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

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

Controls an end-effector.

This task is a thin wrapper around the appropriate tasks in Tasks. The task objective is given in the world frame. For relative control see mc_tasks::RelativeEndEffectorTask

Constructor & Destructor Documentation

◆ EndEffectorTask() [1/2]

mc_tasks::EndEffectorTask::EndEffectorTask	(	const mc_rbdyn::RobotFrame &	frame,
		double	stiffness = `2.0`,
		double	weight = `1000.0`
	)

Constructor.

\pararm frame Control frame

Parameters

stiffness	Task stiffness
weight	Task weight

◆ EndEffectorTask() [2/2]

mc_tasks::EndEffectorTask::EndEffectorTask	(	const std::string &	bodyName,
		const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		double	stiffness = `2.0`,
		double	weight = `1000.0`
	)

Constructor.

Parameters

bodyName	Name of the body to control
robots	Robots controlled by this task
robotIndex	Index of the robot controlled by this task
stiffness	Task stiffness
weight	Task weight

Member Function Documentation

◆ add_ef_pose()

virtual void mc_tasks::EndEffectorTask::add_ef_pose ( const sva::PTransformd & dtr )

virtual

Increment the target position.

Parameters

dtr	Change in target position

Reimplemented in mc_tasks::RelativeEndEffectorTask.

◆ addToGUI()

void mc_tasks::EndEffectorTask::addToGUI ( mc_rtc::gui::StateBuilder & )

overrideprotectedvirtual

Add elements to the GUI through the helper

This will be called by the solver when the task is added.

The default implementation adds the type of the task under the {"Tasks", name_} category.

Reimplemented from mc_tasks::MetaTask.

Reimplemented in mc_tasks::RelativeEndEffectorTask.

◆ addToLogger()

void mc_tasks::EndEffectorTask::addToLogger ( mc_rtc::Logger & )

overrideprotectedvirtual

Add entries to the logger

This will be called by the solver if it holds a valid logger instance when the task is added.

The default implementation adds nothing to the log.

Reimplemented from mc_tasks::MetaTask.

◆ addToSolver()

void mc_tasks::EndEffectorTask::addToSolver ( mc_solver::QPSolver & solver )

overrideprotectedvirtual

Add the task to a solver.

Parameters

solver Solver where to add the task

Implements mc_tasks::MetaTask.

◆ dimWeight() [1/2]

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

overridevirtual

Get the current task's dim weight vector.

Implements mc_tasks::MetaTask.

◆ dimWeight() [2/2]

void mc_tasks::EndEffectorTask::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.

◆ eval()

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

overridevirtual

Returns the task error.

The vector's dimensions depend on the underlying task

Implements mc_tasks::MetaTask.

◆ frame()

const mc_rbdyn::RobotFrame& mc_tasks::EndEffectorTask::frame ( ) const

inlineprotectednoexcept

◆ get_ef_pose()

virtual sva::PTransformd mc_tasks::EndEffectorTask::get_ef_pose ( )

virtual

Returns the current target positions.

Returns: Current target position

Reimplemented in mc_tasks::RelativeEndEffectorTask.

◆ load()

void mc_tasks::EndEffectorTask::load	(	mc_solver::QPSolver &	solver,
		const mc_rtc::Configuration &	config
	)

overridevirtual

Load parameters from a Configuration object.

Reimplemented from mc_tasks::MetaTask.

◆ name() [1/3]

const std::string& mc_tasks::MetaTask::name

inline

Get the name of the task

◆ name() [2/3]

virtual void mc_tasks::MetaTask::name

inline

Set a name for the task

This name will be used to identify the task in logs, GUI...

The name should be set before being added to the solver.

◆ name() [3/3]

void mc_tasks::EndEffectorTask::name ( const std::string & name )

overridevirtual

Set a name for the task

This name will be used to identify the task in logs, GUI...

The name should be set before being added to the solver.

Reimplemented from mc_tasks::MetaTask.

◆ removeFromLogger()

void mc_tasks::EndEffectorTask::removeFromLogger ( mc_rtc::Logger & )

overrideprotectedvirtual

Remove entries from the logger

This will be called by the solver when the task is removed.

The default implementation removes everything registered with the MetaTask instance as a source, it is likely good enough

Reimplemented from mc_tasks::MetaTask.

◆ removeFromSolver()

void mc_tasks::EndEffectorTask::removeFromSolver ( mc_solver::QPSolver & solver )

overrideprotectedvirtual

Remove the task from a solver.

Parameters

solver Solver from which to remove the task

Implements mc_tasks::MetaTask.

◆ reset()

void mc_tasks::EndEffectorTask::reset ( )

overridevirtual

Reset the task.

Set the task objective to the current end-effector position

Implements mc_tasks::MetaTask.

Reimplemented in mc_tasks::RelativeEndEffectorTask.

◆ resetJointsSelector()

void mc_tasks::EndEffectorTask::resetJointsSelector ( mc_solver::QPSolver & solver )

overridevirtual

Reset active joints selection.

Parameters

solver Solver where the task is involved

Implements mc_tasks::MetaTask.

◆ selectActiveJoints()

void mc_tasks::EndEffectorTask::selectActiveJoints	(	mc_solver::QPSolver &	solver,
		const std::vector< std::string > &	activeJointsName,
		const std::map< std::string, std::vector< std::array< int, 2 >>> &	activeDofs = `{}`
	)

overridevirtual

Setup an active joints selector.

This function setups a tasks::qp;:JointsSelector for the task. Only the provided joints will be used to solve the task.

Note: Calling this method or the related selectUnactiveJoints should reset the current joints' selection

Parameters

solver	Solver where the task is involved
activeJointsName	Active joints in the task
activeDofs	Allow to select only part of the dofs of a joint

Implements mc_tasks::MetaTask.

◆ selectUnactiveJoints()

void mc_tasks::EndEffectorTask::selectUnactiveJoints	(	mc_solver::QPSolver &	solver,
		const std::vector< std::string > &	unactiveJointsName,
		const std::map< std::string, std::vector< std::array< int, 2 >>> &	unactiveDofs = `{}`
	)

overridevirtual

Setup an unactive joints selector.

This function setups a tasks::qp;:JointsSelector for the task. All joints will be used to realize the task except those provided here.

Note: Calling this method or the related selectActiveJoints should reset the current joints' selection

Parameters

solver	Solver where the task is involved
unactiveJointsName	Active joints in the task
unactiveDofs	Allow to select only part of the dofs of a joint

Implements mc_tasks::MetaTask.

◆ set_ef_pose()

virtual void mc_tasks::EndEffectorTask::set_ef_pose ( const sva::PTransformd & tf )

virtual

Change the target position.

Parameters

tf	New target position

Reimplemented in mc_tasks::RelativeEndEffectorTask.

◆ speed()

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

overridevirtual

Returns the task velocity.

The vector's dimensions depend on the underlying task

Implements mc_tasks::MetaTask.

◆ update()

void mc_tasks::EndEffectorTask::update ( mc_solver::QPSolver & solver )

overrideprotectedvirtual

Update the task.

This function (usually) has to be called at every iteration of the solver once it has been added. It should update the state of the task.

Parameters

solver Solver in which the task is inserted

Implements mc_tasks::MetaTask.

Member Data Documentation

◆ curTransform

sva::PTransformd mc_tasks::EndEffectorTask::curTransform

◆ orientationTask

std::shared_ptr<mc_tasks::OrientationTask> mc_tasks::EndEffectorTask::orientationTask

◆ positionTask

std::shared_ptr<mc_tasks::PositionTask> mc_tasks::EndEffectorTask::positionTask

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

include/mc_tasks/EndEffectorTask.h

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ EndEffectorTask() [1/2]

◆ EndEffectorTask() [2/2]

Member Function Documentation

◆ add_ef_pose()

◆ addToGUI()

◆ addToLogger()

◆ addToSolver()

◆ dimWeight() [1/2]

◆ dimWeight() [2/2]

◆ eval()

◆ frame()

◆ get_ef_pose()

◆ load()

◆ name() [1/3]

◆ name() [2/3]

◆ name() [3/3]

◆ removeFromLogger()

◆ removeFromSolver()

◆ reset()

◆ resetJointsSelector()

◆ selectActiveJoints()

◆ selectUnactiveJoints()

◆ set_ef_pose()

◆ speed()

◆ update()

Member Data Documentation

◆ curTransform

◆ orientationTask

◆ positionTask