Servo an end-effector depending on position error in camera frame. More...

#include <mc_tasks/PositionBasedVisServoTask.h>

Inheritance diagram for mc_tasks::PositionBasedVisServoTask:

Collaboration diagram for mc_tasks::PositionBasedVisServoTask:

Public Member Functions
	PositionBasedVisServoTask (const mc_rbdyn::RobotFrame &frame, const sva::PTransformd &X_t_s=sva::PTransformd::Identity(), double stiffness=2.0, double weight=500.0)
	Constructor (from frame) More...

	PositionBasedVisServoTask (const std::string &bodyName, const sva::PTransformd &X_t_s, const sva::PTransformd &X_b_s, const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness=2.0, double weight=500)
	Constructor. More...

	PositionBasedVisServoTask (const std::string &surfaceName, const sva::PTransformd &X_t_s, const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness=2.0, double weight=500)
	Constructor (from mc_rbdyn::Surface information) More...

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

void	error (const sva::PTransformd &X_t_s)
	Set the current error. More...

void	addToLogger (mc_rtc::Logger &logger) override

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

Servo an end-effector depending on position error in camera frame.

Constructor & Destructor Documentation

◆ PositionBasedVisServoTask() [1/3]

mc_tasks::PositionBasedVisServoTask::PositionBasedVisServoTask	(	const mc_rbdyn::RobotFrame &	frame,
		const sva::PTransformd &	X_t_s = `sva::PTransformd::Identity()`,
		double	stiffness = `2.0`,
		double	weight = `500.0`
	)

Constructor (from frame)

Parameters

frame	Control frame
X_t_s	Transformation from the target to the control frame
stiffness	Task stiffness
weight	Task weight

◆ PositionBasedVisServoTask() [2/3]

mc_tasks::PositionBasedVisServoTask::PositionBasedVisServoTask	(	const std::string &	bodyName,
		const sva::PTransformd &	X_t_s,
		const sva::PTransformd &	X_b_s,
		const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		double	stiffness = `2.0`,
		double	weight = `500`
	)

Constructor.

Parameters

bodyName	Name of the body to control
X_b_s	Transformation from the controlled body to the surface being controlled
X_t_s	Transformation from the target to the surface
robots	Robots controlled by this task
robotIndex	Index of the robot controlled by this task
stiffness	Task stiffness
weight	Task weight

◆ PositionBasedVisServoTask() [3/3]

mc_tasks::PositionBasedVisServoTask::PositionBasedVisServoTask	(	const std::string &	surfaceName,
		const sva::PTransformd &	X_t_s,
		const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		double	stiffness = `2.0`,
		double	weight = `500`
	)

Constructor (from mc_rbdyn::Surface information)

Parameters

surfaceName	Name of the surface the control
X_t_s	Transformation from the target to the surface
robots	Robots controlled by this task
robotIndex	Index of the robot controlled by this task
stiffness	Task stiffness
weight	Task weight

Member Function Documentation

◆ addToLogger()

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

overridevirtual

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.

◆ error()

void mc_tasks::PositionBasedVisServoTask::error ( const sva::PTransformd & X_t_s )

Set the current error.

Parameters

X_t_s Transformation from the target frame to the control frame

◆ reset()

void mc_tasks::PositionBasedVisServoTask::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/PositionBasedVisServoTask.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PositionBasedVisServoTask() [1/3]

◆ PositionBasedVisServoTask() [2/3]

◆ PositionBasedVisServoTask() [3/3]

Member Function Documentation

◆ addToLogger()

◆ error()

◆ reset()