Control a frame 6D pose. More...

#include <mc_tasks/TransformTask.h>

Inheritance diagram for mc_tasks::TransformTask:

Collaboration diagram for mc_tasks::TransformTask:

Public Member Functions
	TransformTask (const mc_rbdyn::RobotFrame &frame, double stiffness=2.0, double weight=500.0)
	Constructor. More...

	TransformTask (const std::string &surfaceName, const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness=2.0, double weight=500)
	Constructor. More...

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

virtual sva::PTransformd	target () const
	Get the task's target. More...

virtual void	target (const sva::PTransformd &worldPos)
	Set the task's target. More...

virtual void	targetVel (const sva::MotionVecd &worldVel)
	Get the task's target velocity. More...

void	targetSurface (unsigned int robotIndex, const std::string &surfaceName, const sva::PTransformd &offset=sva::PTransformd::Identity())
	Targets a robot surface with an optional offset. The offset is expressed in the target contact frame. More...

void	targetFrame (const mc_rbdyn::Frame &targetFrame, const sva::PTransformd &offset=sva::PTransformd::Identity())
	Targets a given frame with an optional offset. More...

void	targetFrameVelocity (const mc_rbdyn::Frame &targetFrame, const sva::PTransformd &offset=sva::PTransformd::Identity())
	Targets a given frame velocity with an optional offset. More...

virtual void	target (const mc_rbdyn::Frame &frame, const sva::PTransformd &offset)
	Targets a given frame with an optional offset. More...

const std::string &	surface () const noexcept
	Retrieve the controlled frame name. More...

const mc_rbdyn::RobotFrame &	frame () const noexcept
	Return the controlled frame (const) More...

sva::PTransformd	surfacePose () const noexcept

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

void	addToLogger (mc_rtc::Logger &logger) override

void	setGains (const sva::MotionVecd &stiffness, const sva::MotionVecd &damping)
	Set dimensional stiffness and damping. More...

void	stiffness (const sva::MotionVecd &stiffness)
	Set dimensional stiffness. More...

sva::MotionVecd	mvStiffness ()
	Get dimensional stiffness as a motion vector. More...

void	damping (const sva::MotionVecd &damping)
	Set dimensional damping. More...

sva::MotionVecd	mvDamping ()
	Get dimensional damping as a motion vector. More...

void	refVelB (const sva::MotionVecd &velB)
	Set trajectory task's reference velocity from motion vector in frame coordinates. More...

sva::MotionVecd	refVelB () const
	Get reference velocity in frame coordinates as a motion vector. More...

void	refAccel (const sva::MotionVecd &accel)
	Set trajectory task's reference acceleration from motion vector. More...

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

void	damping (double damping)
	Set the task damping, leaving its stiffness unchanged. More...

void	damping (const Eigen::VectorXd &damping)
	Set dimensional damping. More...

double	damping () const
	Get the current task 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...

void	stiffness (double stiffness)
	Set the task stiffness/damping. More...

void	stiffness (const Eigen::VectorXd &stiffness)
	Set dimensional stiffness. More...

double	stiffness () const
	Get the current task stiffness. More...

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	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

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

void	refVel (const Eigen::VectorXd &vel)
	Set the trajectory reference velocity. More...

const Eigen::VectorXd &	refVel () const
	Get the trajectory reference velocity. More...

Protected Member Functions inherited from mc_tasks::TrajectoryTaskGeneric
template<Backend backend, typename ErrorT , typename... Args>
void	finalize (Args &&... args)

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
mc_rbdyn::ConstRobotFramePtr	frame_

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

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

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

Control a frame 6D pose.

Constructor & Destructor Documentation

◆ TransformTask() [1/2]

mc_tasks::TransformTask::TransformTask	(	const mc_rbdyn::RobotFrame &	frame,
		double	stiffness = `2.0`,
		double	weight = `500.0`
	)

Constructor.

Parameters

frame	Frame controlled by this task
stiffness	Task stiffness
weight	Task weight

◆ TransformTask() [2/2]

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

Constructor.

Prefer the frame-based constructor

Parameters

surfaceName	Name of the surface frame to control
robots	Robots controlled by this task
robotIndex	Index of the robot controlled by this task
stiffness	Task stiffness
weight	Task weight

Member Function Documentation

◆ addToGUI()

void mc_tasks::TransformTask::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::TrajectoryTaskGeneric.

◆ addToLogger()

void mc_tasks::TransformTask::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::TrajectoryTaskGeneric.

◆ buildCompletionCriteria()

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

overridevirtual

Add support for the following criterias:

wrench: completed when the surface wrench reaches the given wrench, if some values are NaN, this direction is ignored. Only valid if the surface controlled by this task is attached to a force sensor, throws otherwise

Exceptions

If	wrench is used but the surface is not attached to a force sensor

Reimplemented from mc_tasks::TrajectoryTaskGeneric.

◆ damping() [1/4]

double mc_tasks::TrajectoryTaskGeneric::damping

Get the current task damping.

◆ damping() [2/4]

void mc_tasks::TrajectoryTaskGeneric::damping

Set dimensional damping.

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

Parameters

damping Dimensional damping

◆ damping() [3/4]

void mc_tasks::TransformTask::damping ( const sva::MotionVecd & damping )

inline

Set dimensional damping.

Parameters

damping Dimensional damping as a motion vector

◆ damping() [4/4]

void mc_tasks::TrajectoryTaskGeneric::damping

Set the task damping, leaving its stiffness unchanged.

Parameters

damping Task stiffness

◆ frame()

const mc_rbdyn::RobotFrame& mc_tasks::TransformTask::frame ( ) const

inlinenoexcept

Return the controlled frame (const)

◆ load()

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

overridevirtual

Load parameters from a Configuration object.

Reimplemented from mc_tasks::TrajectoryTaskGeneric.

◆ mvDamping()

sva::MotionVecd mc_tasks::TransformTask::mvDamping ( )

inline

Get dimensional damping as a motion vector.

◆ mvStiffness()

sva::MotionVecd mc_tasks::TransformTask::mvStiffness ( )

inline

Get dimensional stiffness as a motion vector.

◆ refAccel()

void mc_tasks::TransformTask::refAccel ( const sva::MotionVecd & accel )

inline

Set trajectory task's reference acceleration from motion vector.

Parameters

acc	Reference acceleration in frame coordinates

◆ refVel() [1/2]

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

protected

Get the trajectory reference velocity.

◆ refVel() [2/2]

void mc_tasks::TrajectoryTaskGeneric::refVel

protected

Set the trajectory reference velocity.

Parameters

vel	New reference velocity

◆ refVelB() [1/2]

sva::MotionVecd mc_tasks::TransformTask::refVelB ( ) const

inline

Get reference velocity in frame coordinates as a motion vector.

◆ refVelB() [2/2]

void mc_tasks::TransformTask::refVelB ( const sva::MotionVecd & velB )

inline

Set trajectory task's reference velocity from motion vector in frame coordinates.

Parameters

velB	Reference velocity in frame coordinates

◆ reset()

void mc_tasks::TransformTask::reset ( )

overridevirtual

Reset the task.

Set the task target to the current frame position

Reset its target velocity and acceleration to zero.

Reimplemented from mc_tasks::TrajectoryTaskGeneric.

◆ setGains() [1/3]

void mc_tasks::TrajectoryTaskGeneric::setGains

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() [2/3]

void mc_tasks::TransformTask::setGains	(	const sva::MotionVecd &	stiffness,
		const sva::MotionVecd &	damping
	)

inline

Set dimensional stiffness and damping.

Parameters

stiffness	Dimensional stiffness
damping	Dimensional damping

◆ setGains() [3/3]

void mc_tasks::TrajectoryTaskGeneric::setGains

Set both stiffness and damping.

Parameters

stiffness	Task stiffness
damping	Task damping

◆ stiffness() [1/4]

double mc_tasks::TrajectoryTaskGeneric::stiffness

Get the current task stiffness.

◆ stiffness() [2/4]

void mc_tasks::TrajectoryTaskGeneric::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() [3/4]

void mc_tasks::TransformTask::stiffness ( const sva::MotionVecd & stiffness )

inline

Set dimensional stiffness.

Damping is automatically set to 2*sqrt(stiffness)

Parameters

stiffness Dimensional stiffness as a motion vector

◆ stiffness() [4/4]

void mc_tasks::TrajectoryTaskGeneric::stiffness

Set the task stiffness/damping.

Damping is automatically set to 2*sqrt(stiffness)

Parameters

stiffness Task stiffness

◆ surface()

const std::string& mc_tasks::TransformTask::surface ( ) const

inlinenoexcept

Retrieve the controlled frame name.

◆ surfacePose()

sva::PTransformd mc_tasks::TransformTask::surfacePose ( ) const

inlinenoexcept

Returns the pose of the frame in the inertial frame

◆ target() [1/3]

virtual sva::PTransformd mc_tasks::TransformTask::target ( ) const

virtual

Get the task's target.

◆ target() [2/3]

virtual void mc_tasks::TransformTask::target	(	const mc_rbdyn::Frame &	frame,
		const sva::PTransformd &	offset
	)

virtual

Targets a given frame with an optional offset.

The offset is given in the target frame

Parameters

targetFrame	Target frame
offset	Offset relative to `targetFrame`

◆ target() [3/3]

virtual void mc_tasks::TransformTask::target ( const sva::PTransformd & worldPos )

virtual

Set the task's target.

Parameters

pos	Target in world frame

◆ targetFrame()

void mc_tasks::TransformTask::targetFrame	(	const mc_rbdyn::Frame &	targetFrame,
		const sva::PTransformd &	offset = `sva::PTransformd::Identity()`
	)

Targets a given frame with an optional offset.

The offset is given in the target frame

Parameters

targetFrame	Target frame
offset	Offset relative to `targetFrame`

◆ targetFrameVelocity()

void mc_tasks::TransformTask::targetFrameVelocity	(	const mc_rbdyn::Frame &	targetFrame,
		const sva::PTransformd &	offset = `sva::PTransformd::Identity()`
	)

Targets a given frame velocity with an optional offset.

The offset is given in the target frame

Parameters

targetFrame	Target frame
offset	Offset relative to `targetFrame`

◆ targetSurface()

void mc_tasks::TransformTask::targetSurface	(	unsigned int	robotIndex,
		const std::string &	surfaceName,
		const sva::PTransformd &	offset = `sva::PTransformd::Identity()`
	)

Targets a robot surface with an optional offset. The offset is expressed in the target contact frame.

Parameters

robotIndex	Index of the robot to target (could be the environment)
surfaceName	Surface name in the target robot
offset	offset defined in the target contact frame

◆ targetVel()

virtual void mc_tasks::TransformTask::targetVel ( const sva::MotionVecd & worldVel )

virtual

Get the task's target velocity.

Parameters

vel	Target velocity in world frame

Reimplemented in mc_tasks::force::ImpedanceTask.

Member Data Documentation

◆ frame_

mc_rbdyn::ConstRobotFramePtr mc_tasks::TransformTask::frame_

protected

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

include/mc_tasks/TransformTask.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TransformTask() [1/2]

◆ TransformTask() [2/2]

Member Function Documentation

◆ addToGUI()

◆ addToLogger()

◆ buildCompletionCriteria()

◆ damping() [1/4]

◆ damping() [2/4]

◆ damping() [3/4]

◆ damping() [4/4]

◆ frame()

◆ load()

◆ mvDamping()

◆ mvStiffness()

◆ refAccel()

◆ refVel() [1/2]

◆ refVel() [2/2]

◆ refVelB() [1/2]

◆ refVelB() [2/2]

◆ reset()

◆ setGains() [1/3]

◆ setGains() [2/3]

◆ setGains() [3/3]

◆ stiffness() [1/4]

◆ stiffness() [2/4]

◆ stiffness() [3/4]

◆ stiffness() [4/4]

◆ surface()

◆ surfacePose()

◆ target() [1/3]

◆ target() [2/3]

◆ target() [3/3]

◆ targetFrame()

◆ targetFrameVelocity()

◆ targetSurface()

◆ targetVel()

Member Data Documentation

◆ frame_