#include <mc_tasks/PostureTask.h>

Inheritance diagram for mc_tasks::PostureTask:

Collaboration diagram for mc_tasks::PostureTask:

Public Member Functions
	PostureTask (const mc_solver::QPSolver &solver, unsigned int rIndex, double stiffness=1, double weight=10)

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

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

void	dimWeight (const Eigen::VectorXd &dimW) override
	Set the task dimensional weight. 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
	Select active joints for this task. 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
	Select inactive joints for this task. More...

void	resetJointsSelector (mc_solver::QPSolver &solver) override
	Reset the joint selector effect. More...

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

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

void	posture (const std::vector< std::vector< double >> &p)

void	refVel (const Eigen::VectorXd &refVel) noexcept

const Eigen::VectorXd &	refVel () const noexcept

void	refAccel (const Eigen::VectorXd &refAccel) noexcept

const Eigen::VectorXd &	refAccel () const noexcept

std::vector< std::vector< double > >	posture () const

void	jointGains (const mc_solver::QPSolver &solver, const std::vector< tasks::qp::JointGains > &jgs)

void	jointStiffness (const mc_solver::QPSolver &solver, const std::vector< tasks::qp::JointStiffness > &jss)

void	jointWeights (const std::map< std::string, double > &jws)

void	target (const std::map< std::string, std::vector< double >> &joints)

void	stiffness (double s)

double	stiffness () const

void	damping (double d)

double	damping () const

void	setGains (double stiffness, double damping)

void	weight (double w)

double	weight () const

bool	inSolver () 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 Member Functions
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...

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

void	addToLogger (mc_rtc::Logger &logger) override

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

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

A posture task for a given robot

Note that eval/speed/dimWeight have different dimensions based on the backend:

in Tasks, this is robot.mb().nrParams()
in TVM, this is robot.tvmRobot().qJoints().size()

Constructor & Destructor Documentation

◆ PostureTask()

mc_tasks::PostureTask::PostureTask	(	const mc_solver::QPSolver &	solver,
		unsigned int	rIndex,
		double	stiffness = `1`,
		double	weight = `10`
	)

Member Function Documentation

◆ addToGUI()

void mc_tasks::PostureTask::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.

◆ addToLogger()

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

overrideprotectedvirtual

Add the task to a solver.

Parameters

solver Solver where to add the task

Implements mc_tasks::MetaTask.

◆ damping() [1/2]

double mc_tasks::PostureTask::damping ( ) const

Get the task's current damping

◆ damping() [2/2]

void mc_tasks::PostureTask::damping ( double d )

Set the task damping, leaving its stiffness unchanged

Parameters

damping Task stiffness

◆ dimWeight() [1/2]

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

overridevirtual

Get the current task's dim weight vector.

Implements mc_tasks::MetaTask.

◆ dimWeight() [2/2]

void mc_tasks::PostureTask::dimWeight ( const Eigen::VectorXd & dimW )

overridevirtual

Set the task dimensional weight.

For simple cases (using 0/1 as weights) prefer selectActiveJoints or selectUnactiveJoints which are simpler to use

Implements mc_tasks::MetaTask.

◆ eval()

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

overridevirtual

Returns the task error.

The vector's dimensions depend on the underlying task

Implements mc_tasks::MetaTask.

◆ inSolver()

bool mc_tasks::PostureTask::inSolver ( ) const

True if the task is in the solver

◆ jointGains()

void mc_tasks::PostureTask::jointGains	(	const mc_solver::QPSolver &	solver,
		const std::vector< tasks::qp::JointGains > &	jgs
	)

Set joint gains for the posture task

◆ jointStiffness()

void mc_tasks::PostureTask::jointStiffness	(	const mc_solver::QPSolver &	solver,
		const std::vector< tasks::qp::JointStiffness > &	jss
	)

Set joint stiffness for the posture task

◆ jointWeights()

void mc_tasks::PostureTask::jointWeights ( const std::map< std::string, double > & jws )

Set joint weights for the posture task

◆ load()

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

overridevirtual

Load parameters from a Configuration object.

Reimplemented from mc_tasks::MetaTask.

◆ posture() [1/2]

std::vector<std::vector<double> > mc_tasks::PostureTask::posture ( ) const

Get current posture objective

◆ posture() [2/2]

void mc_tasks::PostureTask::posture ( const std::vector< std::vector< double >> & p )

Change posture objective

◆ refAccel() [1/2]

const Eigen::VectorXd& mc_tasks::PostureTask::refAccel ( ) const

noexcept

Access the reference acceleration

◆ refAccel() [2/2]

void mc_tasks::PostureTask::refAccel ( const Eigen::VectorXd & refAccel )

noexcept

Change reference acceleration

refAccel Should be of size nrDof

◆ refVel() [1/2]

const Eigen::VectorXd& mc_tasks::PostureTask::refVel ( ) const

noexcept

Access the reference velocity

◆ refVel() [2/2]

void mc_tasks::PostureTask::refVel ( const Eigen::VectorXd & refVel )

noexcept

Change reference velocity

refVel Should be of size nrDof

◆ removeFromSolver()

void mc_tasks::PostureTask::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::PostureTask::reset ( )

overridevirtual

Reset the task.

Implements mc_tasks::MetaTask.

◆ resetJointsSelector()

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

overridevirtual

Reset the joint selector effect.

Reset dimWeight to ones

Implements mc_tasks::MetaTask.

◆ selectActiveJoints()

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

overridevirtual

Select active joints for this task.

Manipulate dimWeight() to achieve its effect

Implements mc_tasks::MetaTask.

◆ selectUnactiveJoints()

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

overridevirtual

Select inactive joints for this task.

Manipulate dimWeight() to achieve its effect

Implements mc_tasks::MetaTask.

◆ setGains()

void mc_tasks::PostureTask::setGains	(	double	stiffness,
		double	damping
	)

Set both stiffness and damping

Parameters

stiffness	Task stiffness
damping	Task damping

◆ speed()

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

overridevirtual

Returns the task velocity.

The vector's dimensions depend on the underlying task

Implements mc_tasks::MetaTask.

◆ stiffness() [1/2]

double mc_tasks::PostureTask::stiffness ( ) const

Get the current task's stiffness

◆ stiffness() [2/2]

void mc_tasks::PostureTask::stiffness ( double s )

Set the task stiffness/damping

Damping is automatically set to 2*sqrt(stiffness)

Parameters

stiffness Task stiffness

◆ target()

void mc_tasks::PostureTask::target ( const std::map< std::string, std::vector< double >> & joints )

Set specific joint targets

Parameters

joints Map of joint's name to joint's configuration

◆ update()

void mc_tasks::PostureTask::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.

◆ weight() [1/2]

double mc_tasks::PostureTask::weight ( ) const

Get task's weight

◆ weight() [2/2]

void mc_tasks::PostureTask::weight ( double w )

Set task's weight

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

include/mc_tasks/PostureTask.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PostureTask()

Member Function Documentation

◆ addToGUI()

◆ addToLogger()

◆ addToSolver()

◆ damping() [1/2]

◆ damping() [2/2]

◆ dimWeight() [1/2]

◆ dimWeight() [2/2]

◆ eval()

◆ inSolver()

◆ jointGains()

◆ jointStiffness()

◆ jointWeights()

◆ load()

◆ posture() [1/2]

◆ posture() [2/2]

◆ refAccel() [1/2]

◆ refAccel() [2/2]

◆ refVel() [1/2]

◆ refVel() [2/2]

◆ removeFromSolver()

◆ reset()

◆ resetJointsSelector()

◆ selectActiveJoints()

◆ selectUnactiveJoints()

◆ setGains()

◆ speed()

◆ stiffness() [1/2]

◆ stiffness() [2/2]

◆ target()

◆ update()

◆ weight() [1/2]

◆ weight() [2/2]