wbc::VelocityScene Class Reference

Velocity-based implementation of the WBC Scene. It sets up and solves the following problem: More...

#include <VelocityScene.hpp>

Inheritance diagram for wbc::VelocityScene:

Public Member Functions
	VelocityScene (RobotModelPtr robot_model, QPSolverPtr solver, const double dt)
virtual	~VelocityScene ()
virtual const HierarchicalQP &	update ()
	Update the wbc scene and setup the optimization problem.
virtual const base::commands::Joints &	solve (const HierarchicalQP &hqp)
	Solve the given optimization problem.
virtual const TasksStatus &	updateTasksStatus ()
	Compute y and y_solution for each task. y_solution denotes the task velocity that can be achieved with the solution generated by the solver and y denotes the actual joint velocity achieved by the robot. Both values can be used to evaluate the performance of WBC.
Public Member Functions inherited from wbc::Scene
	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.
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.
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.

Protected Member Functions
virtual TaskPtr	createTask (const TaskConfig &config)
	Create a task and add it to the WBC scene.
Protected Member Functions inherited from wbc::Scene
void	clearTasks ()
	Delete all tasks and free memory.

Protected Attributes
base::VectorXd	q
base::VectorXd	qd
base::VectorXd	qdd
Protected Attributes inherited from wbc::Scene
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

Static Protected Attributes
static SceneRegistry< VelocityScene >	reg

Additional Inherited Members
Static Public Member Functions inherited from wbc::Scene
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.

Detailed Description

Velocity-based implementation of the WBC Scene. It sets up and solves the following problem:

\[ \begin{array}{ccc} minimize & \| \dot{\mathbf{q}} \|_2& \\ \mathbf{\dot{q}} & & \\ s.t. & \mathbf{J}_w\dot{\mathbf{q}}=\mathbf{v}_{d} \end{array} \]

\(\dot{\mathbf{q}}\) - Vector of robot joint velocities
\(\mathbf{v}_{d}\) - desired task space velocities of all tasks stacked in a vector
\(\mathbf{J}\) - task Jacobians of all tasks stacked in a single matrix
\(\mathbf{J}_w\) - Weighted task Jacobians
\(\mathbf{W}\) - Diagonal task weight matrix

The tasks are all modeled as linear equality tasks to the above optimization problem. The task hierarchies are kept, i.e., multiple priorities are possible, depending on the solver.

Constructor & Destructor Documentation

VelocityScene()

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

~VelocityScene()

virtual wbc::VelocityScene::~VelocityScene ( )

inlinevirtual

Member Function Documentation

createTask()

TaskPtr wbc::VelocityScene::createTask ( const TaskConfig & config )

protectedvirtual

Create a task and add it to the WBC scene.

Implements wbc::Scene.

solve()

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

virtual

Solve the given optimization problem.

Returns

Solver output as joint velocity command

Implements wbc::Scene.

update()

const HierarchicalQP & wbc::VelocityScene::update ( )

virtual

Update the wbc scene and setup the optimization problem.

Implements wbc::Scene.

Reimplemented in wbc::VelocitySceneQP.

updateTasksStatus()

const TasksStatus & wbc::VelocityScene::updateTasksStatus ( )

virtual

Compute y and y_solution for each task. y_solution denotes the task velocity that can be achieved with the solution generated by the solver and y denotes the actual joint velocity achieved by the robot. Both values can be used to evaluate the performance of WBC.

Implements wbc::Scene.

Member Data Documentation

q

base::VectorXd wbc::VelocityScene::q

protected

qd

base::VectorXd wbc::VelocityScene::qd

protected

qdd

base::VectorXd wbc::VelocityScene::qdd

protected

reg

SceneRegistry< VelocityScene > wbc::VelocityScene::reg

staticprotected

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

• src/scenes/velocity/VelocityScene.hpp
• src/scenes/velocity/VelocityScene.cpp