Add a contact in a compliant manner. More...

#include <mc_tasks/ComplianceTask.h>

Inheritance diagram for mc_tasks::force::ComplianceTask:

Collaboration diagram for mc_tasks::force::ComplianceTask:

Public Member Functions
	ComplianceTask (const mc_rbdyn::Robots &robots, unsigned int robotIndex, const std::string &body, double timestep, const Eigen::Matrix6d &dof=Eigen::Matrix6d::Identity(), double stiffness=5.0, double weight=1000.0, double forceThresh=3., double torqueThresh=1., std::pair< double, double > forceGain=defaultFGain, std::pair< double, double > torqueGain=defaultTGain)
	Constructor with dof restrictions. More...

	ComplianceTask (const mc_rbdyn::Robots &robots, unsigned int robotIndex, const std::string &body, double timestep, double stiffness=5.0, double weight=1000.0, double forceThresh=3., double torqueThresh=1., std::pair< double, double > forceGain=defaultFGain, std::pair< double, double > torqueGain=defaultTGain)
	Constructor. More...

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

sva::ForceVecd	getFilteredWrench () const
	Get the filtered wrench used by the task as a measure. More...

void	setTargetWrench (const sva::ForceVecd &wrench)
	Modify the target wrench. More...

sva::ForceVecd	getTargetWrench ()
	Get the current target wrench. More...

void	stiffness (double s)
	Set the task stiffness. More...

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

void	weight (double w)
	Set the task weight. More...

double	weight ()
	Get the task weight. More...

void	forceThresh (double t)
	Set the force threshold. More...

double	forceThresh ()
	Get the force threshold. More...

void	torqueThresh (double t)
	Set the torque threshold. More...

double	torqueThresh ()
	Get the torque threshold. More...

void	forceGain (std::pair< double, double > t)
	Set the force gain. More...

std::pair< double, double >	forceGain ()
	Get the force gain. More...

void	torqueGain (std::pair< double, double > t)
	Set the torque gain. More...

std::pair< double, double >	torqueGain ()
	Get the torque gain. More...

void	dof (const Eigen::Matrix6d &dof)
	Set the current dof matrix. More...

Eigen::Matrix6d	dof ()
	Get the current dof matrix. 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...

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

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

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

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const std::pair< double, double >	defaultFGain

static const std::pair< double, double >	defaultTGain

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

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

virtual void	removeFromLogger (mc_rtc::Logger &)

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

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

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

Add a contact in a compliant manner.

Uses an mc_tasks::EndEffectorTask to drive the selected body until certain force and torque thresholds are reached.

This is a force-compliant variant of mc_tasks::AddContactTask that should be used when a force sensor is available.

Constructor & Destructor Documentation

◆ ComplianceTask() [1/2]

mc_tasks::force::ComplianceTask::ComplianceTask	(	const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		const std::string &	body,
		double	timestep,
		const Eigen::Matrix6d &	dof = `Eigen::Matrix6d::Identity()`,
		double	stiffness = `5.0`,
		double	weight = `1000.0`,
		double	forceThresh = `3.`,
		double	torqueThresh = `1.`,
		std::pair< double, double >	forceGain = `defaultFGain`,
		std::pair< double, double >	torqueGain = `defaultTGain`
	)

Constructor with dof restrictions.

Parameters

robots	Robots where the task will be applied
robotIndex	Which robot among the robots
body	Name of the body controlled by this task.
timestep	Timestep of the controller
dof	Allows to enable/disable some axis in the control/wrench monitoring
stiffness	Stiffness of the task
weight	Weight of the task
forceThresh	Force threshold to reach
Torque	threshold to reach
forceGain	PD gains on the force part
torqueGain	PD gains on the torque part

Exceptions

If	the body the task is attempting to control does not have a sensor attached to it

◆ ComplianceTask() [2/2]

mc_tasks::force::ComplianceTask::ComplianceTask	(	const mc_rbdyn::Robots &	robots,
		unsigned int	robotIndex,
		const std::string &	body,
		double	timestep,
		double	stiffness = `5.0`,
		double	weight = `1000.0`,
		double	forceThresh = `3.`,
		double	torqueThresh = `1.`,
		std::pair< double, double >	forceGain = `defaultFGain`,
		std::pair< double, double >	torqueGain = `defaultTGain`
	)

Constructor.

Parameters

robots	Robots where the task will be applied
robotIndex	Which robot among the robots
body	Name of the body controlled by this task.
timestep	Timestep of the controller
stiffness	Stiffness of the task
weight	Weight of the task
forceThresh	Force threshold to reach
Torque	threshold to reach
forceGain	PD gains on the force part
torqueGain	PD gains on the torque part

Exceptions

If	the body the task is attempting to control does not have a sensor attached to it

Member Function Documentation

◆ dimWeight() [1/2]

Eigen::VectorXd mc_tasks::force::ComplianceTask::dimWeight ( ) const

overridevirtual

Get the current task's dim weight vector.

Implements mc_tasks::MetaTask.

◆ dimWeight() [2/2]

void mc_tasks::force::ComplianceTask::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.

◆ dof() [1/2]

Eigen::Matrix6d mc_tasks::force::ComplianceTask::dof ( )

inline

Get the current dof matrix.

◆ dof() [2/2]

void mc_tasks::force::ComplianceTask::dof ( const Eigen::Matrix6d & dof )

inline

Set the current dof matrix.

◆ eval()

Eigen::VectorXd mc_tasks::force::ComplianceTask::eval ( ) const

inlineoverridevirtual

Returns the task error.

The vector's dimensions depend on the underlying task

Implements mc_tasks::MetaTask.

◆ forceGain() [1/2]

std::pair<double, double> mc_tasks::force::ComplianceTask::forceGain ( )

inline

Get the force gain.

◆ forceGain() [2/2]

void mc_tasks::force::ComplianceTask::forceGain ( std::pair< double, double > t )

inline

Set the force gain.

◆ forceThresh() [1/2]

double mc_tasks::force::ComplianceTask::forceThresh ( )

inline

Get the force threshold.

◆ forceThresh() [2/2]

void mc_tasks::force::ComplianceTask::forceThresh ( double t )

inline

Set the force threshold.

◆ getFilteredWrench()

sva::ForceVecd mc_tasks::force::ComplianceTask::getFilteredWrench ( ) const

Get the filtered wrench used by the task as a measure.

◆ getTargetWrench()

sva::ForceVecd mc_tasks::force::ComplianceTask::getTargetWrench ( )

inline

Get the current target wrench.

◆ reset()

void mc_tasks::force::ComplianceTask::reset ( )

overridevirtual

Reset the task.

Set the end effector objective to the current position of the end-effector

Implements mc_tasks::MetaTask.

◆ resetJointsSelector()

void mc_tasks::force::ComplianceTask::resetJointsSelector ( mc_solver::QPSolver & solver )

overridevirtual

Reset active joints selection.

Parameters

solver Solver where the task is involved

Implements mc_tasks::MetaTask.

◆ selectActiveJoints()

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

overridevirtual

Setup an active joints selector.

This function setups a tasks::qp;:JointsSelector for the task. Only the provided joints will be used to solve the task.

Note: Calling this method or the related selectUnactiveJoints should reset the current joints' selection

Parameters

solver	Solver where the task is involved
activeJointsName	Active joints in the task
activeDofs	Allow to select only part of the dofs of a joint

Implements mc_tasks::MetaTask.

◆ selectUnactiveJoints()

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

overridevirtual

Setup an unactive joints selector.

This function setups a tasks::qp;:JointsSelector for the task. All joints will be used to realize the task except those provided here.

Note: Calling this method or the related selectActiveJoints should reset the current joints' selection

Parameters

solver	Solver where the task is involved
unactiveJointsName	Active joints in the task
unactiveDofs	Allow to select only part of the dofs of a joint

Implements mc_tasks::MetaTask.

◆ setTargetWrench()

void mc_tasks::force::ComplianceTask::setTargetWrench ( const sva::ForceVecd & wrench )

inline

Modify the target wrench.

◆ speed()

Eigen::VectorXd mc_tasks::force::ComplianceTask::speed ( ) const

inlineoverridevirtual

Returns the task velocity.

The vector's dimensions depend on the underlying task

Implements mc_tasks::MetaTask.

◆ stiffness() [1/2]

double mc_tasks::force::ComplianceTask::stiffness ( )

inline

Get the task stiffness.

◆ stiffness() [2/2]

void mc_tasks::force::ComplianceTask::stiffness ( double s )

inline

Set the task stiffness.

◆ torqueGain() [1/2]

std::pair<double, double> mc_tasks::force::ComplianceTask::torqueGain ( )

inline

Get the torque gain.

◆ torqueGain() [2/2]

void mc_tasks::force::ComplianceTask::torqueGain ( std::pair< double, double > t )

inline

Set the torque gain.

◆ torqueThresh() [1/2]

double mc_tasks::force::ComplianceTask::torqueThresh ( )

inline

Get the torque threshold.

◆ torqueThresh() [2/2]

void mc_tasks::force::ComplianceTask::torqueThresh ( double t )

inline

Set the torque threshold.

◆ weight() [1/2]

double mc_tasks::force::ComplianceTask::weight ( )

inline

Get the task weight.

◆ weight() [2/2]

void mc_tasks::force::ComplianceTask::weight ( double w )

inline

Set the task weight.

Member Data Documentation

◆ defaultFGain

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const std::pair<double, double> mc_tasks::force::ComplianceTask::defaultFGain

static

◆ defaultTGain

const std::pair<double, double> mc_tasks::force::ComplianceTask::defaultTGain

static

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

include/mc_tasks/ComplianceTask.h

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ComplianceTask() [1/2]

◆ ComplianceTask() [2/2]

Member Function Documentation

◆ dimWeight() [1/2]

◆ dimWeight() [2/2]

◆ dof() [1/2]

◆ dof() [2/2]

◆ eval()

◆ forceGain() [1/2]

◆ forceGain() [2/2]

◆ forceThresh() [1/2]

◆ forceThresh() [2/2]

◆ getFilteredWrench()

◆ getTargetWrench()

◆ reset()

◆ resetJointsSelector()

◆ selectActiveJoints()

◆ selectUnactiveJoints()

◆ setTargetWrench()

◆ speed()

◆ stiffness() [1/2]

◆ stiffness() [2/2]

◆ torqueGain() [1/2]

◆ torqueGain() [2/2]

◆ torqueThresh() [1/2]

◆ torqueThresh() [2/2]

◆ weight() [1/2]

◆ weight() [2/2]

Member Data Documentation

◆ defaultFGain

◆ defaultTGain