wbc::Scene Class Reference

Base class for all wbc scenes. More...

#include <Scene.hpp>

Inheritance diagram for wbc::Scene:

Public Member Functions
	Scene (RobotModelPtr robot_model, QPSolverPtr solver, const double dt)
	~Scene ()
virtual bool	configure (const std::vector< TaskConfig > &config)
	Configure the WBC scene. Create tasks and sort them by priority.
virtual const HierarchicalQP &	update ()=0
	Update the wbc scene and return the (updated) optimization problem.
virtual const base::commands::Joints &	solve (const HierarchicalQP &hqp)=0
	Solve the given optimization problem.
void	setReference (const std::string &task_name, const base::samples::Joints &ref)
	Set reference input for a joint space task.
void	setReference (const std::string &task_name, const base::samples::RigidBodyStateSE3 &ref)
	Set reference input for a cartesian space task.
void	setTaskWeights (const std::string &task_name, const base::VectorXd &weights)
	Set Task weights input for a task.
void	setTaskActivation (const std::string &task_name, double activation)
	Set Task activation for a task.
TaskPtr	getTask (const std::string &name)
	Return a Particular task. Throw if the task does not exist.
bool	hasTask (const std::string &name)
	True in case the given task exists.
const TasksStatus &	getTasksStatus () const
	Returns all tasks as vector.
virtual const TasksStatus &	updateTasksStatus ()=0
	updateTasksStatus Evaluate the fulfillment of the tasks given the current robot state and the solver output
void	getHierarchicalQP (HierarchicalQP &_hqp)
	Return tasks sorted by priority for the solver.
const base::commands::Joints &	getSolverOutput () const
	Get current solver output.
const base::VectorXd &	getSolverOutputRaw () const
	Get current solver output in raw values.
void	setJointWeights (const JointWeights &weights)
	set Joint weights by given name
const JointWeights &	getJointWeights () const
	Get Joint weights as Named vector.
const JointWeights &	getActuatedJointWeights () const
	Get Joint weights as Named vector.
RobotModelPtr	getRobotModel ()
	Return the current robot model.
QPSolverPtr	getSolver ()
	Return the current solver.
std::vector< TaskConfig >	getWbcConfig ()
	Return task configuration.

Static Public Member Functions
static void	sortTaskConfig (const std::vector< TaskConfig > &config, std::vector< std::vector< TaskConfig > > &sorted_config)
	Sort task config by the priorities of the tasks.
static uint	getNTaskVariables (const std::vector< TaskConfig > &config)
	Return number of tasks per priority, given the task config.
static std::vector< int >	getNTaskVariablesPerPrio (const std::vector< TaskConfig > &config)
	Return number of tasks per priority, given the task config.

Protected Member Functions
virtual TaskPtr	createTask (const TaskConfig &config)=0
void	clearTasks ()
	Delete all tasks and free memory.

Protected Attributes
RobotModelPtr	robot_model
QPSolverPtr	solver
std::vector< std::vector< TaskPtr > >	tasks
std::vector< std::vector< ConstraintPtr > >	constraints
TasksStatus	tasks_status
HierarchicalQP	hqp
std::vector< int >	n_task_variables_per_prio
bool	configured
base::commands::Joints	solver_output_joints
JointWeights	joint_weights
JointWeights	actuated_joint_weights
std::vector< TaskConfig >	wbc_config
base::VectorXd	solver_output

Detailed Description

Base class for all wbc scenes.

Constructor & Destructor Documentation

Scene()

wbc::Scene::Scene	(	RobotModelPtr	robot_model,
		QPSolverPtr	solver,
		const double	dt )

~Scene()

wbc::Scene::~Scene

(

)

Member Function Documentation

clearTasks()

void wbc::Scene::clearTasks ( )

protected

Delete all tasks and free memory.

configure()

bool wbc::Scene::configure ( const std::vector< TaskConfig > & config )

virtual

Configure the WBC scene. Create tasks and sort them by priority.

Parameters

config

configuration. Size has to be > 0. All tasks have to be valid. See TaskConfig.hpp for more details.

Create tasks. Store the number of task variables per priority

createTask()

virtual TaskPtr wbc::Scene::createTask ( const TaskConfig & config )

protectedpure virtual

brief Create a task and add it to the WBC scene

Implemented in wbc::AccelerationScene, wbc::AccelerationSceneReducedTSID, wbc::AccelerationSceneTSID, and wbc::VelocityScene.

getActuatedJointWeights()

const JointWeights & wbc::Scene::getActuatedJointWeights ( ) const

inline

Get Joint weights as Named vector.

getHierarchicalQP()

void wbc::Scene::getHierarchicalQP ( HierarchicalQP & _hqp )

inline

Return tasks sorted by priority for the solver.

getJointWeights()

const JointWeights & wbc::Scene::getJointWeights ( ) const

inline

Get Joint weights as Named vector.

getNTaskVariables()

uint wbc::Scene::getNTaskVariables ( const std::vector< TaskConfig > & config )

static

Return number of tasks per priority, given the task config.

getNTaskVariablesPerPrio()

std::vector< int > wbc::Scene::getNTaskVariablesPerPrio ( const std::vector< TaskConfig > & config )

static

Return number of tasks per priority, given the task config.

getRobotModel()

RobotModelPtr wbc::Scene::getRobotModel ( )

inline

Return the current robot model.

getSolver()

QPSolverPtr wbc::Scene::getSolver ( )

inline

Return the current solver.

getSolverOutput()

const base::commands::Joints & wbc::Scene::getSolverOutput ( ) const

inline

Get current solver output.

getSolverOutputRaw()

const base::VectorXd & wbc::Scene::getSolverOutputRaw ( ) const

inline

Get current solver output in raw values.

getTask()

TaskPtr wbc::Scene::getTask

(

const std::string &

name

)

Return a Particular task. Throw if the task does not exist.

getTasksStatus()

const TasksStatus & wbc::Scene::getTasksStatus ( ) const

inline

Returns all tasks as vector.

getWbcConfig()

std::vector< TaskConfig > wbc::Scene::getWbcConfig ( )

inline

Return task configuration.

hasTask()

bool wbc::Scene::hasTask

(

const std::string &

name

)

True in case the given task exists.

setJointWeights()

void wbc::Scene::setJointWeights

(

const JointWeights &

weights

)

set Joint weights by given name

setReference() [1/2]

void wbc::Scene::setReference	(	const std::string &	task_name,
		const base::samples::Joints &	ref )

Set reference input for a joint space task.

Parameters

task_name	Name of the task
task_name	Joint space reference values

setReference() [2/2]

void wbc::Scene::setReference	(	const std::string &	task_name,
		const base::samples::RigidBodyStateSE3 &	ref )

Set reference input for a cartesian space task.

Parameters

task_name	Name of the task
task_name	Cartesian space reference values

setTaskActivation()

void wbc::Scene::setTaskActivation	(	const std::string &	task_name,
		double	activation )

Set Task activation for a task.

Parameters

task_name	Name of the task
activation	Activation value. Has to be in interval [0.0Scene,1.0]

setTaskWeights()

void wbc::Scene::setTaskWeights	(	const std::string &	task_name,
		const base::VectorXd &	weights )

Set Task weights input for a task.

Parameters

task_name	Name of the task
weights	Weight vector. Size has to be same as number of task variables

solve()

virtual const base::commands::Joints & wbc::Scene::solve ( const HierarchicalQP & hqp )

pure virtual

Solve the given optimization problem.

Returns

Solver output as joint command

Implemented in wbc::AccelerationScene, wbc::AccelerationSceneReducedTSID, wbc::AccelerationSceneTSID, and wbc::VelocityScene.

sortTaskConfig()

void wbc::Scene::sortTaskConfig ( const std::vector< TaskConfig > & config, std::vector< std::vector< TaskConfig > > & sorted_config )

static

Sort task config by the priorities of the tasks.

update()

virtual const HierarchicalQP & wbc::Scene::update ( )

pure virtual

Update the wbc scene and return the (updated) optimization problem.

Returns

Hierarchical quadratic program (solver input)

Implemented in wbc::AccelerationScene, wbc::AccelerationSceneReducedTSID, wbc::AccelerationSceneTSID, wbc::VelocityScene, and wbc::VelocitySceneQP.

updateTasksStatus()

virtual const TasksStatus & wbc::Scene::updateTasksStatus ( )

pure virtual

updateTasksStatus Evaluate the fulfillment of the tasks given the current robot state and the solver output

Implemented in wbc::AccelerationScene, wbc::AccelerationSceneReducedTSID, wbc::AccelerationSceneTSID, and wbc::VelocityScene.

Member Data Documentation

actuated_joint_weights

JointWeights wbc::Scene::actuated_joint_weights

protected

configured

bool wbc::Scene::configured

protected

constraints

std::vector< std::vector<ConstraintPtr> > wbc::Scene::constraints

protected

hqp

HierarchicalQP wbc::Scene::hqp

protected

joint_weights

JointWeights wbc::Scene::joint_weights

protected

n_task_variables_per_prio

std::vector<int> wbc::Scene::n_task_variables_per_prio

protected

robot_model

RobotModelPtr wbc::Scene::robot_model

protected

solver

QPSolverPtr wbc::Scene::solver

protected

solver_output

base::VectorXd wbc::Scene::solver_output

protected

solver_output_joints

base::commands::Joints wbc::Scene::solver_output_joints

protected

tasks

std::vector< std::vector<TaskPtr> > wbc::Scene::tasks

protected

tasks_status

TasksStatus wbc::Scene::tasks_status

protected

wbc_config

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

protected

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

• src/core/Scene.hpp
• src/core/Scene.cpp