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 (TaskConfig config, RobotModelPtr robot_model, uint nv, TaskType type)
	Resizes all members.
	~Task ()
void	reset ()
	Reset task variables to initial values.
virtual void	update ()=0
	Update Task matrices and vectors.
void	setWeights (const Eigen::VectorXd &weights)
	Set task weights.
void	setActivation (const double activation)
	Set task activation.

Public Attributes
TaskConfig	config
Eigen::VectorXd	y_ref
Eigen::VectorXd	y_ref_world
Eigen::VectorXd	weights
Eigen::VectorXd	weights_world
double	activation
Eigen::MatrixXd	A
Eigen::MatrixXd	Aw
uint	nv
uint	nj
TaskType	type

Protected Attributes
RobotModelPtr	robot_model

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	(	TaskConfig	config,
		RobotModelPtr	robot_model,
		uint	nv,
		TaskType	type )

Resizes all members.

Parameters

nc	Number of task variables
nj	Number of robot joints

~Task()

wbc::Task::~Task

(

)

Member Function Documentation

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 Eigen::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 ( )

pure virtual

Update Task matrices and vectors.

Implemented in wbc::CoMAccelerationTask, wbc::CoMVelocityTask, wbc::ContactForceTask, wbc::JointAccelerationTask, wbc::JointVelocityTask, wbc::SpatialAccelerationTask, and wbc::SpatialVelocityTask.

Member Data Documentation

A

Eigen::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

Eigen::MatrixXd wbc::Task::Aw

Weighted task matrix

config

TaskConfig wbc::Task::config

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

nj

uint wbc::Task::nj

number of robot joints

nv

uint wbc::Task::nv

Number of task variables

robot_model

RobotModelPtr wbc::Task::robot_model

protected

type

TaskType wbc::Task::type

Type of task, see TaskConfig.hpp for details

weights

Eigen::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_world

Eigen::VectorXd wbc::Task::weights_world

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

y_ref

Eigen::VectorXd wbc::Task::y_ref

Reference input for this task. Can be either joint or a Cartesian space variables.

y_ref_world

Eigen::VectorXd wbc::Task::y_ref_world

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 world frame.

---

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

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