wbc::Task Class Reference

Abstract class to represent a generic task for a WBC optimization problem. More...

#include <Task.hpp>

Inheritance diagram for wbc::Task:

Public Member Functions
	Task ()
	Default constructor.
	Task (const TaskConfig &_config, uint n_robot_joints)
	Resizes all members.
	~Task ()
void	reset ()
	Reset task variables to initial values.
virtual void	update (RobotModelPtr robot_model)=0
	Update Task matrices and vectors.
void	checkTimeout ()
	Check if the task is in timeout and set the timeout flag accordingly. A task is in timeout if.
void	setWeights (const base::VectorXd &weights)
	Set task weights.
void	setActivation (const double activation)
	Set task activation.

Public Attributes
base::Time	time
TaskConfig	config
base::VectorXd	y_ref
base::VectorXd	y_ref_root
base::VectorXd	weights
base::VectorXd	weights_root
double	activation
int	timeout
base::MatrixXd	A
base::MatrixXd	Aw

Detailed Description

Abstract class to represent a generic task for a WBC optimization problem.

Constructor & Destructor Documentation

Task() [1/2]

wbc::Task::Task

(

)

Default constructor.

Task() [2/2]

wbc::Task::Task	(	const TaskConfig &	_config,
		uint	n_robot_joints )

Resizes all members.

~Task()

wbc::Task::~Task

(

)

Member Function Documentation

checkTimeout()

void wbc::Task::checkTimeout

(

)

Check if the task is in timeout and set the timeout flag accordingly. A task is in timeout if.

• No reference value has been set yet
• A timeout value is configured (config.timeout > 0) and no reference value arrived during the timeout period

reset()

void wbc::Task::reset

(

)

Reset task variables to initial values.

setActivation()

void wbc::Task::setActivation

(

const double

activation

)

Set task activation.

Parameters

activation

Value has to be between 0 and 1. Can be used to activate(1)/deactivate(0) the task.

setWeights()

void wbc::Task::setWeights

(

const base::VectorXd &

weights

)

Set task weights.

Parameters

weights

Weight vector. Size has to be same as number of task variables and all entries have to be >= 0

update()

virtual void wbc::Task::update ( RobotModelPtr robot_model )

pure virtual

Update Task matrices and vectors.

Implemented in wbc::CartesianAccelerationTask, wbc::CartesianVelocityTask, wbc::CoMAccelerationTask, wbc::CoMVelocityTask, wbc::JointAccelerationTask, and wbc::JointVelocityTask.

Member Data Documentation

A

base::MatrixXd wbc::Task::A

Task matrix

activation

double wbc::Task::activation

Task activation. Has to be between 0 and 1. Will be multiplied with the task weights. Can be used to (smoothly) switch on/off the tasks

Aw

base::MatrixXd wbc::Task::Aw

Weighted task matrix

config

TaskConfig wbc::Task::config

Configuration of this task. See TaskConfig.hpp for more details

time

base::Time wbc::Task::time

Last time the task reference values was updated.

timeout

int wbc::Task::timeout

Can be 0 or 1. Will be multiplied with the task weights. If no new reference values arrives for more than config.timeout time, this value will be set to zero

weights

base::VectorXd wbc::Task::weights

Task weights. Size has to be same as number of task variables and all entries have to be >= 0. A zero entry means that the reference of the corresponding task variable will be ignored while computing the solution, for example when controlling the Cartesian pose, the last 3 entries can be set to zero in order to ignore the orientarion and only control the position

weights_root

base::VectorXd wbc::Task::weights_root

Task weights. In case of joint tasks, weights_root will be equal to weights. In case of Cartesian tasks, weights_root will be equal to weights, transformed into the robot's base/root frame

y_ref

base::VectorXd wbc::Task::y_ref

Reference input for this task. Can be either joint or a Cartesian space variables. If the latter is the case they have to be expressed in in ref_frame coordinates! See TaskConfig.hpp for more details.

y_ref_root

base::VectorXd wbc::Task::y_ref_root

Reference value for this task. Can be either joint or a Cartesian space variables. In the former case, y_ref_root will be equal to y_ref, in the latter case, y_ref_root will be y_ref transformed into the robot root/base frame.

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

• src/core/Task.hpp
• src/core/Task.cpp