Control the Gaze of a body. More...

#include <mc_tasks/GazeTask.h>

Inheritance diagram for mc_tasks::GazeTask:

Collaboration diagram for mc_tasks::GazeTask:

Public Member Functions
	GazeTask (const mc_rbdyn::RobotFrame &frame, double stiffness=2.0, double weight=500.0, const Eigen::Vector3d &error=Eigen::Vector3d::UnitZ())
	Constructor. More...

	GazeTask (const std::string &bodyName, const Eigen::Vector2d &point2d, double depthEstimate, const sva::PTransformd &X_b_gaze, const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness=2.0, double weight=500)
	Constructor. More...

	GazeTask (const std::string &bodyName, const Eigen::Vector3d &point3d, const sva::PTransformd &X_b_gaze, const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness=2.0, double weight=500)
	Constructor. More...

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

void	error (const Eigen::Vector2d &point2d, const Eigen::Vector2d &point2d_ref=Eigen::Vector2d::Zero())
	Set the current error. More...

void	error (const Eigen::Vector3d &point3d, const Eigen::Vector2d &point2d_ref=Eigen::Vector2d::Zero())
	Set the current error. More...

Public Member Functions inherited from mc_tasks::TrajectoryTaskGeneric
	TrajectoryTaskGeneric (const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness, double weight)
	Constructor (auto damping) More...

	TrajectoryTaskGeneric (const mc_rbdyn::RobotFrame &frame, double stiffness, double weight)
	Constructor (auto damping) More...

virtual	~TrajectoryTaskGeneric ()=default

void	reset () override
	Reset task target velocity and acceleration to zero. More...

void	refVel (const Eigen::VectorXd &vel)
	Set the trajectory reference velocity. More...

const Eigen::VectorXd &	refVel () const
	Get the trajectory reference velocity. More...

void	refAccel (const Eigen::VectorXd &accel)
	Set the trajectory reference acceleration. More...

const Eigen::VectorXd &	refAccel () const
	Get the trajectory reference acceleration. More...

void	stiffness (double stiffness)
	Set the task stiffness/damping. More...

void	stiffness (const Eigen::VectorXd &stiffness)
	Set dimensional stiffness. More...

void	damping (double damping)
	Set the task damping, leaving its stiffness unchanged. More...

void	damping (const Eigen::VectorXd &damping)
	Set dimensional damping. More...

void	setGains (double stiffness, double damping)
	Set both stiffness and damping. More...

void	setGains (const Eigen::VectorXd &stiffness, const Eigen::VectorXd &damping)
	Set dimensional stiffness and damping. More...

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

double	damping () const
	Get the current task damping. More...

const Eigen::VectorXd &	dimStiffness () const
	Get the current task dimensional stiffness. More...

const Eigen::VectorXd &	dimDamping () const
	Get the current task dimensional damping. More...

void	weight (double w)
	Set the task weight. More...

double	weight () const
	Returns the task weight. 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 (const std::vector< std::string > &activeJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &activeDofs={}, bool checkJoints=true)
	Create an active joints selector. 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
	Create an active joints selector. More...

void	selectUnactiveJoints (const std::vector< std::string > &unactiveJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &unactiveDofs={}, bool checkJoints=true)
	Create an unactive 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
	Create an unactive joints selector. More...

virtual void	resetJointsSelector ()

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...

const Eigen::VectorXd &	normalAcc () const

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

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

Additional Inherited Members
Public Types inherited from mc_tasks::TrajectoryTaskGeneric
using	TrajectoryBase = TrajectoryTaskGeneric

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

Protected Member Functions inherited from mc_tasks::TrajectoryTaskGeneric
template<Backend backend, typename ErrorT , typename... Args>
void	finalize (Args &&... args)

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

void	addToLogger (mc_rtc::Logger &logger) override

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

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

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

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

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

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

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::TrajectoryTaskGeneric
const mc_rbdyn::Robots &	robots

unsigned int	rIndex

mc_rtc::void_ptr	errorT {nullptr, nullptr}

Eigen::VectorXd	refVel_

Eigen::VectorXd	refAccel_

bool	inSolver_ = false

mc_rtc::void_ptr	trajectoryT_ {nullptr, nullptr}

Eigen::VectorXd	stiffness_

Eigen::VectorXd	damping_

double	weight_

mc_rtc::void_ptr	selectorT_ {nullptr, nullptr}

Protected Attributes inherited from mc_tasks::MetaTask
Backend	backend_

std::string	type_

std::string	name_

size_t	iterInSolver_ = 0

Detailed Description

Control the Gaze of a body.

Constructor & Destructor Documentation

◆ GazeTask() [1/3]

mc_tasks::GazeTask::GazeTask	(	const mc_rbdyn::RobotFrame &	frame,
		double	stiffness = `2.0`,
		double	weight = `500.0`,
		const Eigen::Vector3d &	error = `Eigen::Vector3d::UnitZ()`
	)

Constructor.

Parameters

frame	Control frame that should be attached to the camera frame where estimates are provided
stiffness	Task stiffness
weight	Task weight
error	Initial error value, error.z() must be > 0

◆ GazeTask() [2/3]

mc_tasks::GazeTask::GazeTask	(	const std::string &	bodyName,
		const Eigen::Vector2d &	point2d,
		double	depthEstimate,
		const sva::PTransformd &	X_b_gaze,
		const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		double	stiffness = `2.0`,
		double	weight = `500`
	)

Constructor.

Parameters

bodyName	Name of the body to control
point2d	Position of the point in image frame
depthEstimate	Distance of the monitored point from the camera
X_b_gaze	Transformation between the camera link and the parent body
robots	Robots controlled by this task
robotIndex	Index of the robot controlled by this task
stiffness	Task stiffness
weight	Task weight

◆ GazeTask() [3/3]

mc_tasks::GazeTask::GazeTask	(	const std::string &	bodyName,
		const Eigen::Vector3d &	point3d,
		const sva::PTransformd &	X_b_gaze,
		const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		double	stiffness = `2.0`,
		double	weight = `500`
	)

Constructor.

Parameters

bodyName	Name of the body to control
point3d	Equal to (point2d[0], point2d[1], depthEstimate). Depth estimate must be >0, the constructor will throw otherwise as this would result in a division by zero.
X_b_gaze	Transformation between the camera link and the parent body
robots	Robots controlled by this task
robotIndex	Index of the robot controlled by this task
stiffness	Task stiffness
weight	Task weight

Exceptions

std::logic_error if point3d.z() <= 0

Member Function Documentation

◆ error() [1/2]

void mc_tasks::GazeTask::error	(	const Eigen::Vector2d &	point2d,
		const Eigen::Vector2d &	point2d_ref = `Eigen::Vector2d::Zero()`
	)

Set the current error.

Parameters

point2d	Target position in camera frame
point2d_ref	Desired position of the point in image frame

◆ error() [2/2]

void mc_tasks::GazeTask::error	(	const Eigen::Vector3d &	point3d,
		const Eigen::Vector2d &	point2d_ref = `Eigen::Vector2d::Zero()`
	)

Set the current error.

Parameters

point3d	Target position in camera frame
point2d_ref	Desired position of the point in image frame

◆ reset()

void mc_tasks::GazeTask::reset ( )

overridevirtual

Reset the task.

Set the task objective to the current body orientation

Implements mc_tasks::MetaTask.

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

include/mc_tasks/GazeTask.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GazeTask() [1/3]

◆ GazeTask() [2/3]

◆ GazeTask() [3/3]

Member Function Documentation

◆ error() [1/2]

◆ error() [2/2]

◆ reset()