ctrl_lib::ControllerTask Class Reference

#include <ControllerTask.hpp>

Inheritance diagram for ctrl_lib::ControllerTask:

Public Member Functions
	ControllerTask (std::string const &name="ctrl_lib::ControllerTask")
	ControllerTask (std::string const &name, RTT::ExecutionEngine *engine)
	~ControllerTask ()
bool	configureHook ()
bool	startHook ()
void	updateHook ()
void	errorHook ()
void	stopHook ()
void	cleanupHook ()

Protected Member Functions
virtual bool	readFeedback ()=0
virtual bool	readSetpoint ()=0
virtual void	updateController ()=0
virtual const base::VectorXd &	computeActivation (wbc::ActivationFunction &activation_function)=0

Protected Attributes
std::vector< std::string >	field_names
wbc::ActivationFunction	activation_function
base::VectorXd	tmp
base::Time	stamp

Friends
class	ControllerTaskBase

Detailed Description

Base class for all controllers. Implements the controller state machine. Basic functionality is as follows:

1. Update Properties
2. Read Feedback term.
3. If a feedback term is available, read setpoint. Once there is a setpoint, control output will be written at all times.

1. Compute and write control output, depending on the implementation of the controller (derived task)
2. Compute activation. The activation indicates how much influence a control output has, compared to the other control outputs. Activation values will be within 0..1. The activation ports can e.g. be connected to WBC in order to deactivate constraint variables and make unneeded dof available for other tasks. A typical example is Joint limits avoidance. Usually one wants to activate the avoidance behavior only when being close to the joint limits and not disturb other tasks when moving freely. Different activation functions can be chosen (e.g. linear, quadratic, ...) in order to achieve smooth transitions.

Constructor & Destructor Documentation

ControllerTask() [1/2]

ControllerTask::ControllerTask

(

std::string const &

name = "ctrl_lib::ControllerTask"

)

ControllerTask() [2/2]

ControllerTask::ControllerTask	(	std::string const &	name,
		RTT::ExecutionEngine *	engine )

~ControllerTask()

ctrl_lib::ControllerTask::~ControllerTask ( )

inline

Member Function Documentation

cleanupHook()

void ControllerTask::cleanupHook

(

)

computeActivation()

virtual const base::VectorXd & ctrl_lib::ControllerTask::computeActivation ( wbc::ActivationFunction & activation_function )

protectedpure virtual

Compute Activation function

configureHook()

bool ControllerTask::configureHook

(

)

errorHook()

void ControllerTask::errorHook

(

)

readFeedback()

virtual bool ctrl_lib::ControllerTask::readFeedback ( )

protectedpure virtual

Read all feedback values of the controller. Return false if there is no feedback, true otherwise

readSetpoint()

virtual bool ctrl_lib::ControllerTask::readSetpoint ( )

protectedpure virtual

Read all setpoints of the controller. Return false if there is no setpoint, true otherwise

startHook()

bool ControllerTask::startHook

(

)

stopHook()

void ControllerTask::stopHook

(

)

updateController()

virtual void ctrl_lib::ControllerTask::updateController ( )

protectedpure virtual

Compute output of the controller

updateHook()

void ControllerTask::updateHook

(

)

Friends And Related Symbol Documentation

ControllerTaskBase

friend class ControllerTaskBase

friend

Member Data Documentation

activation_function

wbc::ActivationFunction ctrl_lib::ControllerTask::activation_function

protected

field_names

std::vector<std::string> ctrl_lib::ControllerTask::field_names

protected

stamp

base::Time ctrl_lib::ControllerTask::stamp

protected

tmp

base::VectorXd ctrl_lib::ControllerTask::tmp

protected

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The documentation for this class was generated from the following files:

• tasks/ControllerTask.hpp
• tasks/ControllerTask.cpp