Template Class Task

Defined in File Task.h

Nested Relationships

Nested Types

Struct Task::istrue

Class Documentation

template<class Matrix_type, class Vector_type> class Task

Task represents a task in the form \(T(A,b,c)\) where \(A\) is the task error jacobian, \(b\) is the task error and \(c\) is used for LP.

Public Types

typedef Task<Matrix_type, Vector_type> TaskType

typedef std::shared_ptr<TaskType> TaskPtr

typedef Constraint<Matrix_type, Vector_type> ConstraintType

typedef std::shared_ptr<ConstraintType> ConstraintPtr

Public Functions

inline Task(const std::string task_id, const unsigned int x_size)

Task define a task in terms of Ax = b.

Parameters

task_id – is a unique id
x_size – is the number of variables of the task

inline virtual ~Task()

inline bool getWeightIsDiagonalFlag()

getWeightIsDiagonal return the flag _weight_is_diagonal

Returns: true or false

inline void setWeightIsDiagonalFlag(const bool flag)

setWeightIsDiagonalFlag set the flag _weight_is_diagonal (NOTE that no check on Weight matrix is performed, we trust you)

Parameters: flag – true or false

inline void setActive(const bool active_flag)

Activated / deactivates the task by setting the A matrix to zero.

Important note: after activating a task, call the update() function in order to recompute a proper A matrix.

inline bool isActive() const: Returns a boolean which specifies if the task is active.

inline const Matrix_type &getA() const

getA

Returns: the A matrix of the task

inline const HessianType getHessianAtype()

getHessianAtype

Returns: the Hessian type

inline const Vector_type &getb() const

getb

Returns: the b matrix of the task

inline const Matrix_type &getWA() const

getWA

Returns: the product between W and A

inline const Matrix_type &getATranspose() const

getATranspose()

Returns: A transposed

inline const Vector_type &getWb() const

getWb

Returns: the product between W and b

inline const Vector_type &getc() const

getc

Returns: the _c vector of the task

inline const Matrix_type &getWeight() const

getWeight

Returns: the weight of the norm of the task error

inline virtual void setWeight(const Matrix_type &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

inline virtual void setWeight(const double &w)

setWeight sets the task diagonal 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 – scalar diagonal weight

inline const double getLambda() const

getLambda

Returns: the lambda weight of the task

inline virtual void setLambda(double lambda)

inline 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)

Returns

inline const unsigned int getXSize() const

Gets the number of variables for the task.

Returns: the number of columns of A

inline virtual const unsigned int getTaskSize() const

Gets the task size.

Returns: the number of rows of A

inline void update(): Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

inline std::string getTaskID()

getTaskID return the task id

Returns: a string with the task id

inline 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

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

setActiveJointsMask set a mask on the Jacobian.

The changes take effect immediately.

Parameters: active_joints_mask –
Returns: true if success

inline virtual void log(XBot::MatLogger2::Ptr logger)

log logs common Task internal variables

Parameters: logger – a shared pointer to a MathLogger

inline double computeCost(const Eigen::VectorXd &x)

computeCost computes the residual of the task:

residual = (Ax - b)^T * W * (Ax - b)

Parameters: x – solution NOTE: the solution should be the one where the task was evaluated to compute the internal A matrix and b vector! NOTE: computation can be improved as done in the solver…
Returns: the cost of the task for given solution

inline bool checkConsistency()

checkConsistency checks if all internal matrices and vectors are correctly instantiated and the right size

Returns: true if everything is ok

Protected Functions

virtual void _update() = 0: Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

inline virtual void applyActiveJointsMask(Matrix_type &A)

applyActiveJointsMask apply the active joint mask to the A matrix: in tasks in which b does not depend on A, this is done setting to 0 the columns of A corresponding to the index set to false of the _active_joint_mask vector

Parameters: A – matrix of the Task

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

_log can be used to log internal Task variables

Parameters: logger – a shared pointer to a MatLogger

inline virtual bool reset()

reset permits to reset a task and all related variables.

The correctness of the implementation depends to the particular task. Default implementation does nothing and return false.

Returns: false

Protected Attributes

std::string _task_id: _task_id unique name of the task

unsigned int _x_size: _x_size size of the controlled variables

HessianType _hessianType: _hessianType Type of Hessian associated to the Task

Matrix_type _A: _A Jacobian of the Task

Vector_type _b: _b error associated to the Task

Vector_type _c: _c vector used for LP Tasks

Matrix_type _W: _W Weight multiplied to the task Jacobian

double _lambda: _lambda error scaling, NOTE: _lambda >= 0.0

bool _weight_is_diagonal: _weight_is_diagonal, if true the computation of W*A and W*b is optimized (default is false)

std::list<ConstraintPtr> _constraints: _bounds related to the Task

std::vector<bool> _active_joints_mask

_active_joint_mask is vector of bool that represent the active joints of the task.

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

struct istrue

Public Functions

inline bool operator()(int val) const