wbc::WbcTask Class Reference

#include <WbcTask.hpp>

Inheritance diagram for wbc::WbcTask:

Public Member Functions
	WbcTask (std::string const &name="wbc::WbcTask")
	WbcTask (std::string const &name, RTT::ExecutionEngine *engine)
	~WbcTask ()
bool	configureHook ()
bool	startHook ()
void	updateHook ()
void	errorHook ()
void	stopHook ()
void	cleanupHook ()
virtual void	activateTask (const std::string &task_name, double activation)
virtual void	activateTasks (const std::vector< std::string > &task_names, double activation)
virtual void	deactivateAllTasks ()

Protected Attributes
ScenePtr	wbc_scene
RobotModelPtr	robot_model
QPSolverPtr	solver
JointIntegrator	integrator
HierarchicalQP	hierarchical_qp
TaskInterfaceMap	task_interfaces
base::commands::Joints	solver_output_joints
base::samples::Joints	joint_state
base::samples::Joints	full_joint_state
base::Time	stamp
TasksStatus	tasks_status
base::samples::RigidBodyStateSE3	floating_base_state
base::samples::RigidBodyState	floating_base_state_rbs
wbc::JointWeights	joint_weights
std::vector< TaskConfig >	wbc_config
bool	compute_task_status
bool	integrate
TimingStats	timing_stats
ActiveContacts	active_contacts
base::samples::Wrenches	contact_wrenches
bool	has_floating_base_state

Friends
class	WbcBase

Detailed Description

Base WBC Task.

configureHook:

1. Load and configure robot models
2. Configure wbc scene
3. Create dynamic ports

updateHook:

1. Read input ports
2. Update robot models
3. Update Tasks and send them to the solver

Constructor & Destructor Documentation

WbcTask() [1/2]

WbcTask::WbcTask

(

std::string const &

name = "wbc::WbcTask"

)

Is floating base state available on inpurt port?

WbcTask() [2/2]

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

~WbcTask()

WbcTask::~WbcTask

(

)

Member Function Documentation

activateTask()

void WbcTask::activateTask ( const std::string & task_name, double activation )

virtual

activateTasks()

void WbcTask::activateTasks ( const std::vector< std::string > & task_names, double activation )

virtual

cleanupHook()

void WbcTask::cleanupHook

(

)

configureHook()

bool WbcTask::configureHook

(

)

deactivateAllTasks()

void WbcTask::deactivateAllTasks ( )

virtual

errorHook()

void WbcTask::errorHook

(

)

startHook()

bool WbcTask::startHook

(

)

stopHook()

void WbcTask::stopHook

(

)

updateHook()

void WbcTask::updateHook

(

)

Friends And Related Symbol Documentation

WbcBase

friend class WbcBase

friend

Member Data Documentation

active_contacts

ActiveContacts wbc::WbcTask::active_contacts

protected

statistics on compuation time

compute_task_status

bool wbc::WbcTask::compute_task_status

protected

WBC tasks configuration

contact_wrenches

base::samples::Wrenches wbc::WbcTask::contact_wrenches

protected

Names of the active contact points

floating_base_state

base::samples::RigidBodyStateSE3 wbc::WbcTask::floating_base_state

protected

Status of all tasks

floating_base_state_rbs

base::samples::RigidBodyState wbc::WbcTask::floating_base_state_rbs

protected

Current status of the floating base

full_joint_state

base::samples::Joints wbc::WbcTask::full_joint_state

protected

Current joint state of the whole robot (only actuated joints)

has_floating_base_state

bool wbc::WbcTask::has_floating_base_state

protected

Measured contact wrenches

hierarchical_qp

HierarchicalQP wbc::WbcTask::hierarchical_qp

protected

integrate

bool wbc::WbcTask::integrate

protected

For debugging purpose

integrator

JointIntegrator wbc::WbcTask::integrator

protected

joint_state

base::samples::Joints wbc::WbcTask::joint_state

protected

Solver output vector.

joint_weights

wbc::JointWeights wbc::WbcTask::joint_weights

protected

Deprecated floating base state

robot_model

RobotModelPtr wbc::WbcTask::robot_model

protected

solver

QPSolverPtr wbc::WbcTask::solver

protected

solver_output_joints

base::commands::Joints wbc::WbcTask::solver_output_joints

protected

Contains I/O ports for each task

stamp

base::Time wbc::WbcTask::stamp

protected

Current joint state of the whole robot (all joints)

task_interfaces

TaskInterfaceMap wbc::WbcTask::task_interfaces

protected

tasks_status

TasksStatus wbc::WbcTask::tasks_status

protected

Timestamp for cycle time computation

timing_stats

TimingStats wbc::WbcTask::timing_stats

protected

Perform numerical integration for the solver output

wbc_config

std::vector<TaskConfig> wbc::WbcTask::wbc_config

protected

Current joint weights

wbc_scene

ScenePtr wbc::WbcTask::wbc_scene

protected

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

• tasks/WbcTask.hpp
• tasks/WbcTask.cpp