Controls an end-effector relatively to another frame. More...

#include <mc_tasks/RelativeEndEffectorTask.h>

Inheritance diagram for mc_tasks::RelativeEndEffectorTask:

Collaboration diagram for mc_tasks::RelativeEndEffectorTask:

Public Member Functions
	RelativeEndEffectorTask (const mc_rbdyn::RobotFrame &frame, const mc_rbdyn::Frame &relative, double stiffness=10.0, double weight=1000.0)
	Constructor. More...

	RelativeEndEffectorTask (const std::string &bodyName, const mc_rbdyn::Robots &robots, unsigned int robotIndex, const std::string &relBodyName="", double stiffness=10.0, double weight=1000.0)
	Constructor. More...

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

void	add_ef_pose (const sva::PTransformd &dtr) override
	Increment the target position. More...

void	set_ef_pose (const sva::PTransformd &tf) override
	Change the target position. More...

sva::PTransformd	get_ef_pose () override
	Returns the current target positions. More...

Public Member Functions inherited from mc_tasks::EndEffectorTask
	EndEffectorTask (const mc_rbdyn::RobotFrame &frame, double stiffness=2.0, double weight=1000.0)
	Constructor. More...

	EndEffectorTask (const std::string &bodyName, const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness=2.0, double weight=1000.0)
	Constructor. 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 (mc_solver::QPSolver &solver, const std::vector< std::string > &activeJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &activeDofs={}) override
	Setup an active 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
	Setup an unactive joints selector. More...

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...

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

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

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

const std::string &	name () const

Public Member Functions inherited from mc_tasks::MetaTask
	MetaTask ()

virtual	~MetaTask ()

const std::string &	type () const

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

Protected Member Functions inherited from mc_tasks::EndEffectorTask
void	removeFromSolver (mc_solver::QPSolver &solver) override
	Remove the task from a solver. More...

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

void	addToLogger (mc_rtc::Logger &logger) override

void	removeFromLogger (mc_rtc::Logger &logger) override

const mc_rbdyn::RobotFrame &	frame () const noexcept

Protected Member Functions inherited from mc_tasks::MetaTask
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

Public Attributes inherited from mc_tasks::EndEffectorTask
std::shared_ptr< mc_tasks::PositionTask >	positionTask

std::shared_ptr< mc_tasks::OrientationTask >	orientationTask

sva::PTransformd	curTransform

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

Controls an end-effector relatively to another frame.

This task is the relative counter-part to mc_tasks::EndEffectorTask. The difference is that the control is done relatively to a given frame rather than the world frame.

Constructor & Destructor Documentation

◆ RelativeEndEffectorTask() [1/2]

mc_tasks::RelativeEndEffectorTask::RelativeEndEffectorTask	(	const mc_rbdyn::RobotFrame &	frame,
		const mc_rbdyn::Frame &	relative,
		double	stiffness = `10.0`,
		double	weight = `1000.0`
	)

Constructor.

Parameters

frame	Control frame
relative	Relative frame
stiffness	Task stiffness
weight	Task weight

◆ RelativeEndEffectorTask() [2/2]

mc_tasks::RelativeEndEffectorTask::RelativeEndEffectorTask	(	const std::string &	bodyName,
		const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		const std::string &	relBodyName = `""`,
		double	stiffness = `10.0`,
		double	weight = `1000.0`
	)

Constructor.

Parameters

bodyName	Name of the body to control
robots	Robots controlled by this task
robotIndex	Index of the robot controlled by this task
relBodyName	Name of the body relatively to which the end-effector is controlled. If empty, defaults to the robot's base.
stiffness	Task stiffness
weight	Task weight

Member Function Documentation

◆ add_ef_pose()

void mc_tasks::RelativeEndEffectorTask::add_ef_pose ( const sva::PTransformd & dtr )

overridevirtual

Increment the target position.

Parameters

dtr	Change in target position

Reimplemented from mc_tasks::EndEffectorTask.

◆ addToGUI()

void mc_tasks::RelativeEndEffectorTask::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::EndEffectorTask.

◆ get_ef_pose()

sva::PTransformd mc_tasks::RelativeEndEffectorTask::get_ef_pose ( )

overridevirtual

Returns the current target positions.

Returns: Current target position

Reimplemented from mc_tasks::EndEffectorTask.

◆ reset()

void mc_tasks::RelativeEndEffectorTask::reset ( )

overridevirtual

Reset the task.

Set the task objective to the current end-effector position

Reimplemented from mc_tasks::EndEffectorTask.

◆ set_ef_pose()

void mc_tasks::RelativeEndEffectorTask::set_ef_pose ( const sva::PTransformd & tf )

overridevirtual

Change the target position.

Parameters

tf	New target position

Reimplemented from mc_tasks::EndEffectorTask.

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

include/mc_tasks/RelativeEndEffectorTask.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RelativeEndEffectorTask() [1/2]

◆ RelativeEndEffectorTask() [2/2]

Member Function Documentation

◆ add_ef_pose()

◆ addToGUI()

◆ get_ef_pose()

◆ reset()

◆ set_ef_pose()