Represents a generic task. More...

#include <mc_tasks/MetaTask.h>

Inheritance diagram for mc_tasks::MetaTask:

Public Types
using	Backend = mc_solver::QPSolver::Backend

Public Member Functions
	MetaTask ()

virtual	~MetaTask ()

const std::string &	type () const

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

const std::string &	name () const

virtual void	reset ()=0
	Reset the task. More...

virtual void	dimWeight (const Eigen::VectorXd &dimW)=0
	Set the task's dimension weight vector. More...

virtual Eigen::VectorXd	dimWeight () const =0
	Get the current task's dim weight vector. More...

virtual void	selectActiveJoints (mc_solver::QPSolver &solver, const std::vector< std::string > &activeJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &activeDofs={})=0
	Setup an active joints selector. More...

virtual void	selectUnactiveJoints (mc_solver::QPSolver &solver, const std::vector< std::string > &unactiveJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &unactiveDofs={})=0
	Setup an unactive joints selector. More...

virtual void	resetJointsSelector (mc_solver::QPSolver &solver)=0
	Reset active joints selection. More...

virtual Eigen::VectorXd	eval () const =0
	Returns the task error. More...

virtual Eigen::VectorXd	speed () const =0
	Returns the task velocity. More...

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

Protected Member Functions
virtual void	addToSolver (mc_solver::QPSolver &solver)=0
	Add the task to a solver. More...

virtual void	removeFromSolver (mc_solver::QPSolver &solver)=0
	Remove the task from a solver. More...

virtual void	update (mc_solver::QPSolver &solver)=0
	Update the task. More...

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
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
Backend	backend_

std::string	type_

std::string	name_

size_t	iterInSolver_ = 0

Friends
struct	mc_solver::QPSolver

struct	mc_solver::TasksQPSolver

struct	mc_solver::TVMQPSolver

struct	mc_control::CompletionCriteria

Detailed Description

Represents a generic task.

A meta task may be composed of several tasks that work together to achieve a given goal

Member Typedef Documentation

◆ Backend

using mc_tasks::MetaTask::Backend = mc_solver::QPSolver::Backend

Shortcut for implementation

Constructor & Destructor Documentation

◆ MetaTask()

mc_tasks::MetaTask::MetaTask ( )

inline

◆ ~MetaTask()

virtual mc_tasks::MetaTask::~MetaTask ( )

virtual

Member Function Documentation

◆ addToGUI() [1/2]

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

protectedvirtual

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 in mc_tasks::SplineTrajectoryTask< Derived >, mc_tasks::SplineTrajectoryTask< ExactCubicTrajectoryTask >, mc_tasks::SplineTrajectoryTask< BSplineTrajectoryTask >, mc_tasks::force::ImpedanceTask, mc_tasks::TransformTask, mc_tasks::force::AdmittanceTask, mc_tasks::force::CoPTask, mc_tasks::EndEffectorTask, mc_tasks::PositionTask, mc_tasks::ExactCubicTrajectoryTask, mc_tasks::VectorOrientationTask, mc_tasks::OrientationTask, mc_tasks::RelativeEndEffectorTask, mc_tasks::MomentumTask, mc_tasks::BSplineTrajectoryTask, mc_tasks::lipm_stabilizer::StabilizerTask, mc_tasks::TrajectoryTaskGeneric, mc_tasks::PostureTask, and mc_tasks::CoMTask.

◆ addToGUI() [2/2]

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

inlinestaticprotected

Helper function to add a task to the gui when using another MetaTask inside a MetaTask

◆ addToLogger() [1/2]

virtual void mc_tasks::MetaTask::addToLogger ( mc_rtc::Logger & )

inlineprotectedvirtual

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 in mc_tasks::SplineTrajectoryTask< Derived >, mc_tasks::SplineTrajectoryTask< ExactCubicTrajectoryTask >, mc_tasks::SplineTrajectoryTask< BSplineTrajectoryTask >, mc_tasks::TrajectoryTaskGeneric, mc_tasks::force::ImpedanceTask, mc_tasks::force::AdmittanceTask, mc_tasks::force::CoPTask, mc_tasks::PostureTask, mc_tasks::TransformTask, mc_tasks::EndEffectorTask, mc_tasks::PositionTask, mc_tasks::VectorOrientationTask, mc_tasks::PositionBasedVisServoTask, mc_tasks::OrientationTask, mc_tasks::CoMTask, mc_tasks::MomentumTask, and mc_tasks::lipm_stabilizer::StabilizerTask.

◆ addToLogger() [2/2]

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

inlinestaticprotected

Helper function to add a task to the logger when using another MetaTask inside a MetaTask

◆ addToSolver() [1/2]

virtual void mc_tasks::MetaTask::addToSolver ( mc_solver::QPSolver & solver )

protectedpure virtual

Add the task to a solver.

Parameters

solver Solver where to add the task

Implemented in mc_tasks::lipm_stabilizer::StabilizerTask, mc_tasks::TrajectoryTaskGeneric, mc_tasks::force::ImpedanceTask, mc_tasks::force::AdmittanceTask, mc_tasks::PostureTask, and mc_tasks::EndEffectorTask.

◆ addToSolver() [2/2]

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

inlinestaticprotected

Helper function when using another MetaTask inside a MetaTask as adding the task through the solver interface has important side-effects

◆ backend()

Backend mc_tasks::MetaTask::backend ( ) const

inlinenoexcept

◆ buildCompletionCriteria()

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

protectedvirtual

Add additional completion criterias to mc_control::CompletionCriteria object

Based on the input data, this should return a function that operates on the task and return true and complete the output if the criteria has been reached. In this function parameter, the output string should be completed by the function and not overwritten. The task passed to this function is always of the MetaTask type you're implementing and thus can be safely casted.

The default implementation is a function that returns true whatever happens.

Parameters

dt	Timestep of the completion criteria
config	Configuration for the CompletionCriteria

Reimplemented in mc_tasks::TrajectoryTaskGeneric, mc_tasks::TransformTask, mc_tasks::force::CoPTask, mc_tasks::SplineTrajectoryTask< Derived >, mc_tasks::SplineTrajectoryTask< ExactCubicTrajectoryTask >, and mc_tasks::SplineTrajectoryTask< BSplineTrajectoryTask >.

◆ dimWeight() [1/2]

virtual Eigen::VectorXd mc_tasks::MetaTask::dimWeight ( ) const

pure virtual

Get the current task's dim weight vector.

Implemented in mc_tasks::TrajectoryTaskGeneric, mc_tasks::force::ComplianceTask, mc_tasks::SplineTrajectoryTask< Derived >, mc_tasks::AddRemoveContactTask, mc_tasks::EndEffectorTask, and mc_tasks::PostureTask.

◆ dimWeight() [2/2]

virtual void mc_tasks::MetaTask::dimWeight ( const Eigen::VectorXd & dimW )

pure virtual

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

Implemented in mc_tasks::TrajectoryTaskGeneric, mc_tasks::force::ComplianceTask, mc_tasks::AddRemoveContactTask, mc_tasks::SplineTrajectoryTask< Derived >, mc_tasks::SplineTrajectoryTask< ExactCubicTrajectoryTask >, mc_tasks::SplineTrajectoryTask< BSplineTrajectoryTask >, mc_tasks::EndEffectorTask, and mc_tasks::PostureTask.

◆ ensureHasJoints()

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

inlinestaticprotected

◆ eval()

virtual Eigen::VectorXd mc_tasks::MetaTask::eval ( ) const

pure virtual

Returns the task error.

The vector's dimensions depend on the underlying task

Implemented in mc_tasks::SplineTrajectoryTask< Derived >, mc_tasks::TrajectoryTaskGeneric, mc_tasks::force::ComplianceTask, mc_tasks::lipm_stabilizer::StabilizerTask, mc_tasks::AddRemoveContactTask, mc_tasks::EndEffectorTask, and mc_tasks::PostureTask.

◆ incrementIterInSolver()

void mc_tasks::MetaTask::incrementIterInSolver ( )

inlinenoexcept

Increment the number of iterations since the task was added to the solver.

◆ iterInSolver()

size_t mc_tasks::MetaTask::iterInSolver ( ) const

inlinenoexcept

Get the number of iterations since the task was added to the solver.

◆ load()

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

virtual

Load parameters from a Configuration object.

Reimplemented in mc_tasks::TrajectoryTaskGeneric, mc_tasks::TransformTask, mc_tasks::force::AdmittanceTask, mc_tasks::force::ImpedanceTask, mc_tasks::force::CoPTask, mc_tasks::EndEffectorTask, mc_tasks::VectorOrientationTask, mc_tasks::LookAtTask, mc_tasks::LookAtFrameTask, mc_tasks::SplineTrajectoryTask< Derived >, mc_tasks::SplineTrajectoryTask< ExactCubicTrajectoryTask >, mc_tasks::SplineTrajectoryTask< BSplineTrajectoryTask >, mc_tasks::MomentumTask, mc_tasks::PostureTask, mc_tasks::lipm_stabilizer::StabilizerTask, and mc_tasks::CoMTask.

◆ name() [1/2]

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

inline

Get the name of the task

◆ name() [2/2]

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

inlinevirtual

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 in mc_tasks::lipm_stabilizer::StabilizerTask, and mc_tasks::EndEffectorTask.

◆ removeFromGUI() [1/2]

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

protectedvirtual

Remove elements from the GUI through the helper

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

The default implementation removes the {"Tasks", name_} category.

Reimplemented in mc_tasks::lipm_stabilizer::StabilizerTask.

◆ removeFromGUI() [2/2]

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

inlinestaticprotected

Helper function to remove a task from the gui when using another MetaTask inside a MetaTask

◆ removeFromLogger() [1/2]

virtual void mc_tasks::MetaTask::removeFromLogger ( mc_rtc::Logger & )

protectedvirtual

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 in mc_tasks::EndEffectorTask, and mc_tasks::lipm_stabilizer::StabilizerTask.

◆ removeFromLogger() [2/2]

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

inlinestaticprotected

Helper function to remove a task from the logger when using another MetaTask inside a MetaTask

◆ removeFromSolver() [1/2]

virtual void mc_tasks::MetaTask::removeFromSolver ( mc_solver::QPSolver & solver )

protectedpure virtual

Remove the task from a solver.

Parameters

solver Solver from which to remove the task

Implemented in mc_tasks::lipm_stabilizer::StabilizerTask, mc_tasks::TrajectoryTaskGeneric, mc_tasks::PostureTask, and mc_tasks::EndEffectorTask.

◆ removeFromSolver() [2/2]

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

inlinestaticprotected

Helper function when using another MetaTask inside a MetaTask as removing the task through the solver interface has important side-effects

◆ reset()

virtual void mc_tasks::MetaTask::reset ( )

pure virtual

Reset the task.

Implemented in mc_tasks::lipm_stabilizer::StabilizerTask, mc_tasks::force::ComplianceTask, mc_tasks::force::ImpedanceTask, mc_tasks::GazeTask, mc_tasks::force::CoPTask, mc_tasks::force::AdmittanceTask, mc_tasks::PositionBasedVisServoTask, mc_tasks::TrajectoryTaskGeneric, mc_tasks::VectorOrientationTask, mc_tasks::LookAtTask, mc_tasks::RelativeEndEffectorTask, mc_tasks::TransformTask, mc_tasks::EndEffectorTask, mc_tasks::PositionTask, mc_tasks::OrientationTask, mc_tasks::MomentumTask, mc_tasks::CoMTask, and mc_tasks::PostureTask.

◆ resetIterInSolver()

void mc_tasks::MetaTask::resetIterInSolver ( )

inlinenoexcept

Set the number of iterations since the task was added to the solver to zero.

◆ resetJointsSelector()

virtual void mc_tasks::MetaTask::resetJointsSelector ( mc_solver::QPSolver & solver )

pure virtual

Reset active joints selection.

Parameters

solver Solver where the task is involved

Implemented in mc_tasks::TrajectoryTaskGeneric, mc_tasks::force::ComplianceTask, mc_tasks::EndEffectorTask, and mc_tasks::PostureTask.

◆ selectActiveJoints()

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

pure virtual

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

Implemented in mc_tasks::TrajectoryTaskGeneric, mc_tasks::force::ComplianceTask, mc_tasks::EndEffectorTask, and mc_tasks::PostureTask.

◆ selectUnactiveJoints()

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

pure virtual

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

Implemented in mc_tasks::TrajectoryTaskGeneric, mc_tasks::force::ComplianceTask, mc_tasks::EndEffectorTask, and mc_tasks::PostureTask.

◆ speed()

virtual Eigen::VectorXd mc_tasks::MetaTask::speed ( ) const

pure virtual

Returns the task velocity.

The vector's dimensions depend on the underlying task

Implemented in mc_tasks::TrajectoryTaskGeneric, mc_tasks::force::ComplianceTask, mc_tasks::lipm_stabilizer::StabilizerTask, mc_tasks::AddRemoveContactTask, mc_tasks::EndEffectorTask, and mc_tasks::PostureTask.

◆ type()

const std::string& mc_tasks::MetaTask::type ( ) const

inline

Get the type of the task

◆ update() [1/2]

virtual void mc_tasks::MetaTask::update ( mc_solver::QPSolver & solver )

protectedpure virtual

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

Implemented in mc_tasks::force::ImpedanceTask, mc_tasks::force::FirstOrderImpedanceTask, mc_tasks::lipm_stabilizer::StabilizerTask, mc_tasks::SplineTrajectoryTask< Derived >, mc_tasks::SplineTrajectoryTask< ExactCubicTrajectoryTask >, mc_tasks::SplineTrajectoryTask< BSplineTrajectoryTask >, mc_tasks::TrajectoryTaskGeneric, mc_tasks::force::AdmittanceTask, mc_tasks::PostureTask, mc_tasks::EndEffectorTask, mc_tasks::force::DampingTask, mc_tasks::LookAtTFTask, and mc_tasks::LookAtFrameTask.

◆ update() [2/2]

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

inlinestaticprotected

Helper function when using another MetaTask inside a MetaTask

Friends And Related Function Documentation

◆ mc_control::CompletionCriteria

friend struct mc_control::CompletionCriteria

friend

◆ mc_solver::QPSolver

friend struct mc_solver::QPSolver

friend

◆ mc_solver::TasksQPSolver

friend struct mc_solver::TasksQPSolver

friend

◆ mc_solver::TVMQPSolver

friend struct mc_solver::TVMQPSolver

friend

Member Data Documentation

◆ backend_

Backend mc_tasks::MetaTask::backend_

protected

QPSolver backend at creation time

◆ iterInSolver_

size_t mc_tasks::MetaTask::iterInSolver_ = 0

protected

◆ name_

std::string mc_tasks::MetaTask::name_

protected

◆ type_

std::string mc_tasks::MetaTask::type_

protected

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

include/mc_tasks/MetaTask.h

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Backend

Constructor & Destructor Documentation

◆ MetaTask()

◆ ~MetaTask()

Member Function Documentation

◆ addToGUI() [1/2]

◆ addToGUI() [2/2]

◆ addToLogger() [1/2]

◆ addToLogger() [2/2]

◆ addToSolver() [1/2]

◆ addToSolver() [2/2]

◆ backend()

◆ buildCompletionCriteria()

◆ dimWeight() [1/2]

◆ dimWeight() [2/2]

◆ ensureHasJoints()

◆ eval()

◆ incrementIterInSolver()

◆ iterInSolver()

◆ load()

◆ name() [1/2]

◆ name() [2/2]

◆ removeFromGUI() [1/2]

◆ removeFromGUI() [2/2]

◆ removeFromLogger() [1/2]

◆ removeFromLogger() [2/2]

◆ removeFromSolver() [1/2]

◆ removeFromSolver() [2/2]

◆ reset()

◆ resetIterInSolver()

◆ resetJointsSelector()

◆ selectActiveJoints()

◆ selectUnactiveJoints()

◆ speed()

◆ type()

◆ update() [1/2]

◆ update() [2/2]

Friends And Related Function Documentation

◆ mc_control::CompletionCriteria

◆ mc_solver::QPSolver

◆ mc_solver::TasksQPSolver

◆ mc_solver::TVMQPSolver

Member Data Documentation

◆ backend_

◆ iterInSolver_

◆ name_

◆ type_