Class SubTask

Inheritance Relationships

Base Type

Class Documentation

class SubTask : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>

SubTask represents a task which is obtained as a sub task in the form \(T(A_s,b_s)\), where \(A_s\) is a reduced task error jacobian and \(b_s\) its corresponding task error.

Updating a SubTask calls the update method for the corresponding father task which it reduces, and recreates the reduced A,b and Weight matrices. In the same way, the constraints of the SubTask are those of the father Task, as well as the weight matrix W (the \(W_\text{subtask}\) is a submatrix of \(W\)) On the other side, the \(\lambda\) for the SubTask is unique to the SubTask.

Public Types

typedef std::shared_ptr<OpenSoT::SubTask> Ptr

Public Functions

SubTask(TaskPtr taskPtr, const std::list<unsigned int> rowIndices)

SubTask create a SubTask object by specifying the father Task through a pointer, and a list of row indices.

Notice the row indices start from 0 (c style)

Parameters

  • taskPtr – a pointer to the father task

  • rowIndices – a list of indices. The index to the first row is 0.

inline virtual ~SubTask()
virtual void setWeight(const Eigen::MatrixXd &W)

setWeight sets the task weight.

Note the Weight needs to be positive definite. If your original intent was to get a subtask (i.e., reduce the number of rows of the task Jacobian), please use the class SubTask

Parameters

W – matrix weight

virtual std::list<ConstraintPtr> &getConstraints()

getConstraints return a reference to the constraint list.

Use the standard list methods to add, remove, clear, … the constraints list. e.g.: task.getConstraints().push_back(new_constraint) Notice that in subtasks, you will get the constraint list of the father Task from which the SubTask is generated.

Returns

the list of constraints to which the father Task is subject.

virtual const unsigned int getTaskSize() const

Gets the task size.

Returns

the number of rows of A

virtual std::vector<bool> getActiveJointsMask()

getActiveJointsMask return a vector of length NumberOfDOFs.

If an element is false the corresponding column of the task jacobian is set to 0.

Returns

a vector of bool

virtual bool setActiveJointsMask(const std::vector<bool> &active_joints_mask)

setActiveJointsMask set a mask on the jacobian

Parameters

active_joints_mask –

Returns

true if success

inline TaskPtr getTask()

getTask return the internal pointer of the task used to create the subtask

Returns

internal pointer to task

Public Static Functions

static inline bool isSubTask(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task)

isSubTask check wether a generic task is a subtask

Parameters

task – pointer to generic task

Returns

true if is a subtask

static inline OpenSoT::SubTask::Ptr asSubTask(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task)

asSubTask cast generic task to a subtask

Parameters

task – pointer to generic task

Returns

pointer to subtask casted from given task

Protected Functions

virtual void _log(XBot::MatLogger2::Ptr logger)

_log can be used to log internal Task variables

Parameters

logger – a shared pointer to a MatLogger

void generateA()
void generateHessianAtype()
void generateb()
void generateWeight()
virtual void _update()

Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

Parameters

x – variable state at the current step (input)

Protected Attributes

TaskPtr _taskPtr
Indices _subTaskMap
Eigen::MatrixXd fullW

Protected Static Attributes

static const std::string _SUBTASK_SEPARATION_