Generic wrapper for a trajectory dynamic over an error function. More...

#include <mc_tasks/TrajectoryTaskGeneric.h>

Inheritance diagram for mc_tasks::TrajectoryTaskGeneric:

Collaboration diagram for mc_tasks::TrajectoryTaskGeneric:

Public Types
using	TrajectoryBase = TrajectoryTaskGeneric

Public Types inherited from mc_tasks::MetaTask
using	Backend = mc_solver::QPSolver::Backend

Public Member Functions
	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

Protected Member Functions
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 &)

Protected Attributes
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
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

Generic wrapper for a trajectory dynamic over an error function.

This task is meant to be derived to build actual tasks

Member Typedef Documentation

◆ TrajectoryBase

using mc_tasks::TrajectoryTaskGeneric::TrajectoryBase = TrajectoryTaskGeneric

For backward compatibility

Constructor & Destructor Documentation

◆ TrajectoryTaskGeneric() [1/2]

mc_tasks::TrajectoryTaskGeneric::TrajectoryTaskGeneric	(	const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		double	stiffness,
		double	weight
	)

Constructor (auto damping)

This is a simple constructor alternative. Damping is set to 2*sqrt(stiffness). This is the most appropriate constructor to use TrajectoryTask as a SetPointTask

Parameters

robots	Robots used in the task
robotIndex	Index of the robot controlled by the task
stiffness	Stiffness of the task
weight	Weight of the task

◆ TrajectoryTaskGeneric() [2/2]

mc_tasks::TrajectoryTaskGeneric::TrajectoryTaskGeneric	(	const mc_rbdyn::RobotFrame &	frame,
		double	stiffness,
		double	weight
	)

Constructor (auto damping)

This is a simple constructor alternative. Damping is set to 2*sqrt(stiffness). This is the most appropriate constructor to use TrajectoryTask as a SetPointTask

It is a useful shortcut when the task is controlling a frame

Parameters

frame	Frame used in the task
stiffness	Stiffness of the task
weight	Weight of the task

◆ ~TrajectoryTaskGeneric()

virtual mc_tasks::TrajectoryTaskGeneric::~TrajectoryTaskGeneric ( )

virtualdefault

Member Function Documentation

◆ addToGUI()

void mc_tasks::TrajectoryTaskGeneric::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.

Reimplemented in mc_tasks::SplineTrajectoryTask< ExactCubicTrajectoryTask >, mc_tasks::SplineTrajectoryTask< BSplineTrajectoryTask >, mc_tasks::TransformTask, and mc_tasks::VectorOrientationTask.

◆ addToLogger()

void mc_tasks::TrajectoryTaskGeneric::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.

Reimplemented in mc_tasks::SplineTrajectoryTask< ExactCubicTrajectoryTask >, mc_tasks::SplineTrajectoryTask< BSplineTrajectoryTask >, mc_tasks::TransformTask, and mc_tasks::VectorOrientationTask.

◆ addToSolver()

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

overrideprotectedvirtual

Add the task to a solver.

Parameters

solver Solver where to add the task

Implements mc_tasks::MetaTask.

◆ buildCompletionCriteria()

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

overrideprotectedvirtual

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 from mc_tasks::MetaTask.

Reimplemented in mc_tasks::TransformTask, mc_tasks::SplineTrajectoryTask< ExactCubicTrajectoryTask >, and mc_tasks::SplineTrajectoryTask< BSplineTrajectoryTask >.

◆ damping() [1/3]

double mc_tasks::TrajectoryTaskGeneric::damping ( ) const

Get the current task damping.

◆ damping() [2/3]

void mc_tasks::TrajectoryTaskGeneric::damping ( const Eigen::VectorXd & damping )

Set dimensional damping.

The caller should be sure that the dimension of the vector fits the task dimension.

Parameters

damping Dimensional damping

◆ damping() [3/3]

void mc_tasks::TrajectoryTaskGeneric::damping ( double damping )

Set the task damping, leaving its stiffness unchanged.

Parameters

damping Task stiffness

◆ dimDamping()

const Eigen::VectorXd& mc_tasks::TrajectoryTaskGeneric::dimDamping ( ) const

Get the current task dimensional damping.

◆ dimStiffness()

const Eigen::VectorXd& mc_tasks::TrajectoryTaskGeneric::dimStiffness ( ) const

Get the current task dimensional stiffness.

◆ dimWeight() [1/2]

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

overridevirtual

Get the current task's dim weight vector.

Implements mc_tasks::MetaTask.

◆ dimWeight() [2/2]

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

overridevirtual

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

Implements mc_tasks::MetaTask.

Reimplemented in mc_tasks::SplineTrajectoryTask< ExactCubicTrajectoryTask >, and mc_tasks::SplineTrajectoryTask< BSplineTrajectoryTask >.

◆ eval()

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

overridevirtual

Returns the task error.

The vector's dimensions depend on the underlying task

Implements mc_tasks::MetaTask.

◆ finalize()

template<Backend backend, typename ErrorT , typename... Args>

void mc_tasks::TrajectoryTaskGeneric::finalize ( Args &&... args )

inlineprotected

This function should be called to finalize the task creation, it will create the actual tasks objects This function must be called by the derived class to finalize the creation of the task

Template Parameters

ErrorT Actual type of errorT

Parameters

args	Arguments passed to the constructor of errorT

◆ load()

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

overridevirtual

Load parameters from a Configuration object.

Reimplemented from mc_tasks::MetaTask.

Reimplemented in mc_tasks::TransformTask, mc_tasks::VectorOrientationTask, mc_tasks::SplineTrajectoryTask< ExactCubicTrajectoryTask >, and mc_tasks::SplineTrajectoryTask< BSplineTrajectoryTask >.

◆ normalAcc()

const Eigen::VectorXd& mc_tasks::TrajectoryTaskGeneric::normalAcc ( ) const

◆ refAccel() [1/2]

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

Get the trajectory reference acceleration.

◆ refAccel() [2/2]

void mc_tasks::TrajectoryTaskGeneric::refAccel ( const Eigen::VectorXd & accel )

Set the trajectory reference acceleration.

Parameters

accel New reference acceleration

◆ refVel() [1/2]

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

Get the trajectory reference velocity.

◆ refVel() [2/2]

void mc_tasks::TrajectoryTaskGeneric::refVel ( const Eigen::VectorXd & vel )

Set the trajectory reference velocity.

Parameters

vel	New reference velocity

◆ removeFromSolver()

void mc_tasks::TrajectoryTaskGeneric::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::TrajectoryTaskGeneric::reset ( )

overridevirtual

Reset task target velocity and acceleration to zero.

Implements mc_tasks::MetaTask.

Reimplemented in mc_tasks::VectorOrientationTask, and mc_tasks::TransformTask.

◆ resetJointsSelector() [1/2]

virtual void mc_tasks::TrajectoryTaskGeneric::resetJointsSelector ( )

virtual

◆ resetJointsSelector() [2/2]

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

overridevirtual

Reset active joints selection.

Parameters

solver Solver where the task is involved

Implements mc_tasks::MetaTask.

◆ selectActiveJoints() [1/2]

void mc_tasks::TrajectoryTaskGeneric::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.

Warning: This function should only be called if the task hasn't yet been added to the solver. If the tasks is already in the solver it does nothing, and warns that it had no effect. Call void selectActiveJoints(mc_solver::QPSolver &, const std::vector<std::string> &, const std::map<std::string, std::vector<std::array<int, 2>>> &) instead.

Parameters

activeJointsName	Name of the joints activated for this task
activeDofs	Allow to select only part of the dofs of a joint
checkJoints	When true, checks whether the joints exist in the robot

Exceptions

If	checkJoints is true and a joint name in activeJointsName is not part of the robot

◆ selectActiveJoints() [2/2]

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

overridevirtual

Create an active joints selector.

Note: Calling this function is a bit expensive. If the task is already in the solver, it will be removed first, then recreated with the joint selector and added to the solver again. If possible, consider calling void selectActiveJoints(const std::vector<std::string> &, const std::map<std::string, std::vector<std::array<int, 2>>> &) before adding the task to the solver.

Parameters

activeJointsName	Name of the joints activated for this task
activeDofs	Allow to select only part of the dofs of a joint

Exceptions

If	a joint name in activeJointsName is not part of the robot

Implements mc_tasks::MetaTask.

◆ selectUnactiveJoints() [1/2]

void mc_tasks::TrajectoryTaskGeneric::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.

Warning: This function should only be called if the task hasn't yet been added to the solver. If the tasks is already in the solver it does nothing, and warns that it had no effect. Call void selectUnactiveJoints(mc_solver::QPSolver &, const std::vector<std::string> &, const std::map<std::string, std::vector<std::array<int, 2>>> &) instead.

Parameters

unactiveJointsName	Name of the joints not activated for this task
unactiveDofs	Allow to select only part of the dofs of a joint
checkJoints	When true, checks whether the joints exist in the robot

Exceptions

If	checkJoints is true and a joint name in unactiveJointsName is not part of the robot

◆ selectUnactiveJoints() [2/2]

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

overridevirtual

Create an unactive joints selector.

Note: Calling this function is a bit expensive. If the task is already in the solver, it will be removed first, then recreated with the joint selector and added to the solver again. If possible, consider calling void selectUnactiveJoints(const std::vector<std::string> &, const std::map<std::string, std::vector<std::array<int, 2>>> &) before adding the task to the solver.

Parameters

unactiveJointsName	Name of the joints not activated for this task
unactiveDofs	Allow to select only part of the dofs of a joint

Exceptions

If	a joint name in unactiveJointsName is not part of the robot

Implements mc_tasks::MetaTask.

◆ setGains() [1/2]

void mc_tasks::TrajectoryTaskGeneric::setGains	(	const Eigen::VectorXd &	stiffness,
		const Eigen::VectorXd &	damping
	)

Set dimensional stiffness and damping.

The caller should be sure that the dimensions of the vectors fit the task dimension.

Parameters

stiffness	Dimensional stiffness
damping	Dimensional damping

◆ setGains() [2/2]

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

Set both stiffness and damping.

Parameters

stiffness	Task stiffness
damping	Task damping

◆ speed()

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

overridevirtual

Returns the task velocity.

The vector's dimensions depend on the underlying task

Implements mc_tasks::MetaTask.

◆ stiffness() [1/3]

double mc_tasks::TrajectoryTaskGeneric::stiffness ( ) const

Get the current task stiffness.

◆ stiffness() [2/3]

void mc_tasks::TrajectoryTaskGeneric::stiffness ( const Eigen::VectorXd & stiffness )

Set dimensional stiffness.

The caller should be sure that the dimension of the vector fits the task dimension.

Damping is automatically set to 2*sqrt(stiffness)

Parameters

stiffness Dimensional stiffness

◆ stiffness() [3/3]

void mc_tasks::TrajectoryTaskGeneric::stiffness ( double stiffness )

Set the task stiffness/damping.

Damping is automatically set to 2*sqrt(stiffness)

Parameters

stiffness Task stiffness

◆ update()

void mc_tasks::TrajectoryTaskGeneric::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.

Reimplemented in mc_tasks::SplineTrajectoryTask< ExactCubicTrajectoryTask >, mc_tasks::SplineTrajectoryTask< BSplineTrajectoryTask >, and mc_tasks::LookAtTFTask.

◆ weight() [1/2]

double mc_tasks::TrajectoryTaskGeneric::weight ( ) const

Returns the task weight.

◆ weight() [2/2]

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

Set the task weight.

Parameters

w	Task weight

Member Data Documentation

◆ damping_

Eigen::VectorXd mc_tasks::TrajectoryTaskGeneric::damping_

protected

◆ errorT

mc_rtc::void_ptr mc_tasks::TrajectoryTaskGeneric::errorT {nullptr, nullptr}

protected

Pointer to the error function

The actual type depends on the implementation

◆ inSolver_

bool mc_tasks::TrajectoryTaskGeneric::inSolver_ = false

protected

◆ refAccel_

Eigen::VectorXd mc_tasks::TrajectoryTaskGeneric::refAccel_

protected

◆ refVel_

Eigen::VectorXd mc_tasks::TrajectoryTaskGeneric::refVel_

protected

◆ rIndex

unsigned int mc_tasks::TrajectoryTaskGeneric::rIndex

protected

◆ robots

const mc_rbdyn::Robots& mc_tasks::TrajectoryTaskGeneric::robots

protected

◆ selectorT_

mc_rtc::void_ptr mc_tasks::TrajectoryTaskGeneric::selectorT_ {nullptr, nullptr}

protected

Pointer to a dynamic wrapper that select specific joints

In Tasks backend:

tasks::qp::JointSelector

In TVM backend: mc_tvm::JointsSelectorFunction

◆ stiffness_

Eigen::VectorXd mc_tasks::TrajectoryTaskGeneric::stiffness_

protected

◆ trajectoryT_

mc_rtc::void_ptr mc_tasks::TrajectoryTaskGeneric::trajectoryT_ {nullptr, nullptr}

protected

Pointer to the trajectory dynamic

In Tasks backend:

tasks::qp::TrajectoryTask

In TVM backend:

details::TVMTrajectoryTaskGeneric

◆ weight_

double mc_tasks::TrajectoryTaskGeneric::weight_

protected

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

include/mc_tasks/TrajectoryTaskGeneric.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ TrajectoryBase

Constructor & Destructor Documentation

◆ TrajectoryTaskGeneric() [1/2]

◆ TrajectoryTaskGeneric() [2/2]

◆ ~TrajectoryTaskGeneric()

Member Function Documentation

◆ addToGUI()

◆ addToLogger()

◆ addToSolver()

◆ buildCompletionCriteria()

◆ damping() [1/3]

◆ damping() [2/3]

◆ damping() [3/3]

◆ dimDamping()

◆ dimStiffness()

◆ dimWeight() [1/2]

◆ dimWeight() [2/2]

◆ eval()

◆ finalize()

◆ load()

◆ normalAcc()

◆ refAccel() [1/2]

◆ refAccel() [2/2]

◆ refVel() [1/2]

◆ refVel() [2/2]

◆ removeFromSolver()

◆ reset()

◆ resetJointsSelector() [1/2]

◆ resetJointsSelector() [2/2]

◆ selectActiveJoints() [1/2]

◆ selectActiveJoints() [2/2]

◆ selectUnactiveJoints() [1/2]

◆ selectUnactiveJoints() [2/2]

◆ setGains() [1/2]

◆ setGains() [2/2]

◆ speed()

◆ stiffness() [1/3]

◆ stiffness() [2/3]

◆ stiffness() [3/3]

◆ update()

◆ weight() [1/2]

◆ weight() [2/2]

Member Data Documentation

◆ damping_

◆ errorT

◆ inSolver_

◆ refAccel_

◆ refVel_

◆ rIndex

◆ robots

◆ selectorT_

◆ stiffness_

◆ trajectoryT_

◆ weight_