Track a frame position with a "gaze" vector. This task is a convenience wrapper for LookAtTask that takes care of automatically updating the gaze target. More...

#include <mc_tasks/LookAtFrameTask.h>

Inheritance diagram for mc_tasks::LookAtFrameTask:

[legend]

Collaboration diagram for mc_tasks::LookAtFrameTask:

[legend]

Public Member Functions
	LookAtFrameTask (const mc_rbdyn::RobotFrame &frame, const Eigen::Vector3d &frameVector, const mc_rbdyn::Frame &target, double stiffness=0.5, double weight=200.0)
	Constructor. More...

	LookAtFrameTask (const mc_rbdyn::Robots &robots, unsigned int robotIndex, const std::string &bodyName, const Eigen::Vector3d &bodyVector, unsigned int surfaceRobotIndex, const std::string &surfaceName, double stiffness=0.5, double weight=200)
	Constructor. More...

void	update (mc_solver::QPSolver &) override
	Update the gaze target from TF position. More...

const sva::PTransformd &	offset () const noexcept
	Access offset relative to the surface. More...

void	offset (const sva::PTransformd &off) noexcept
	Set the offset relative to the surface. More...

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::LookAtTask
	LookAtTask (const mc_rbdyn::RobotFrame &frame, const Eigen::Vector3d &frameVector, double stiffness=2.0, double weight=500.0)
	Constructor with a frame. More...

	LookAtTask (const std::string &bodyName, const Eigen::Vector3d &bodyVector, const Eigen::Vector3d &targetPos, const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness=2.0, double weight=500)
	Constructor with user-specified target initialization. More...

	LookAtTask (const std::string &bodyName, const Eigen::Vector3d &bodyVector, const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness=2.0, double weight=500)
	Constructor with default target initialization. More...

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

void	target (const Eigen::Vector3d &pos)
	Look towards the target frame position. More...

Eigen::Vector3d	target () const
	Gets the target frame position See targetVector() to obtain the gaze vector. More...

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::VectorOrientationTask
	VectorOrientationTask (const mc_rbdyn::RobotFrame &frame, const Eigen::Vector3d &frameVector, double stiffness=2.0, double weight=500.0)
	Constructor from a robot frame. More...

	VectorOrientationTask (const std::string &bodyName, const Eigen::Vector3d &bodyVector, const Eigen::Vector3d &targetVector, const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness=2.0, double weight=500)
	Constructor with user-specified target. More...

	VectorOrientationTask (const std::string &bodyName, const Eigen::Vector3d &bodyVector, const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness=2.0, double weight=500)
	Constructor with default target. More...

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

void	targetVector (const Eigen::Vector3d &vector)
	Set world target for the controlled vector. More...

Eigen::Vector3d	targetVector () const
	Get the target orientation. More...

Eigen::Vector3d	actual () const
	Get the current body orientation. More...

std::string	body ()
	Return the controlled body. More...

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::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	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

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

Protected Attributes
mc_rbdyn::ConstFramePtr	target_

sva::PTransformd	offset_ = sva::PTransformd::Identity()

Protected Attributes inherited from mc_tasks::VectorOrientationTask
mc_rbdyn::ConstRobotFramePtr	frame_

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

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

void	addToLogger (mc_rtc::Logger &logger) override

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

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)

Detailed Description

Track a frame position with a "gaze" vector. This task is a convenience wrapper for LookAtTask that takes care of automatically updating the gaze target.

Constructor & Destructor Documentation

◆ LookAtFrameTask() [1/2]

mc_tasks::LookAtFrameTask::LookAtFrameTask	(	const mc_rbdyn::RobotFrame &	frame,
		const Eigen::Vector3d &	frameVector,
		const mc_rbdyn::Frame &	target,
		double	stiffness = `0.5`,
		double	weight = `200.0`
	)

Constructor.

Parameters

frame	Control frame
frameVector	Frame vector in control frame
targetFrame	Frame that is looked at
stiffness	Task stiffness
weight	Task weight

◆ LookAtFrameTask() [2/2]

mc_tasks::LookAtFrameTask::LookAtFrameTask	(	const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		const std::string &	bodyName,
		const Eigen::Vector3d &	bodyVector,
		unsigned int	surfaceRobotIndex,
		const std::string &	surfaceName,
		double	stiffness = `0.5`,
		double	weight = `200`
	)

Constructor.

Parameters

robots	Robots controlled by this task
robotIndex	Index of the robot controlled by this task
bodyName	Name of the body to control
bodyVector	Gaze vector for the body. For instance [1., 0, 0] will try to align the x axis of the body with the target direction
surfaceRobotIndex	Robot the target surface belongs to
surfaceNamed	Tracked surface
stiffness	Task stiffness
weight	Task weight

Member Function Documentation

◆ load()

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

overridevirtual

Load parameters from a Configuration object.

Reimplemented from mc_tasks::MetaTask.

◆ offset() [1/2]

const sva::PTransformd& mc_tasks::LookAtFrameTask::offset ( ) const

inlinenoexcept

Access offset relative to the surface.

◆ offset() [2/2]

void mc_tasks::LookAtFrameTask::offset ( const sva::PTransformd & off )

inlinenoexcept

Set the offset relative to the surface.

◆ update()

void mc_tasks::LookAtFrameTask::update ( mc_solver::QPSolver & )

overridevirtual

Update the gaze target from TF position.

Implements mc_tasks::MetaTask.

Member Data Documentation

◆ offset_

sva::PTransformd mc_tasks::LookAtFrameTask::offset_ = sva::PTransformd::Identity()

protected

Offset to the surface in surface frame

◆ target_

mc_rbdyn::ConstFramePtr mc_tasks::LookAtFrameTask::target_