Class Cartesian

Defined in File Cartesian.h

Inheritance Relationships

Base Type

public OpenSoT::Task< Eigen::MatrixXd, Eigen::VectorXd > (Template Class Task)

Class Documentation

class Cartesian : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>

Public Types

typedef std::shared_ptr<Cartesian> Ptr

Public Functions

Cartesian(const std::string task_id, const XBot::ModelInterface &robot, const std::string &distal_link, const std::string &base_link)

Cartesian(const std::string task_id, const XBot::ModelInterface &robot, const std::string &distal_link, const std::string &base_link, const AffineHelper &qddot)

void setGainType(GainType type)

GainType getGainType() const

const std::string &getBaseLink() const

const std::string &getDistalLink() const

void setPositionReference(const Eigen::Vector3d &pos_ref)

setReference sets a new reference for the Cartesian task.

The task error IS NOT recomputed immediately, you need to call the _update(x) function Notice how the setReference(…) needs to be called before each _update(x) of the Cartesian task, since THE _update() RESETS THE FEED-FORWARD VELOCITY and ACCELERATION TERMS for safety reasons.

Parameters

pose_ref – the \(R^{4x4}\) homogeneous transform matrix describing the desired pose for the distal_link in the base_link frame of reference.
vel_ref – is a \(R^{6}\) twist describing the desired trajectory velocity
acc_ref – is a \(R^{6}\) twist describing the desired trajectory acceleration, and it represents a feed-forward term in the cartesian task computation.

void setReference(const Eigen::Affine3d &ref)

void setReference(const KDL::Frame &ref)

void setReference(const Eigen::Affine3d &pose_ref, const Eigen::Vector6d &vel_ref)

void setReference(const KDL::Frame &pose_ref, const KDL::Twist &vel_ref)

void setReference(const Eigen::Affine3d &pose_ref, const Eigen::Vector6d &vel_ref, const Eigen::Vector6d &acc_ref)

void setReference(const KDL::Frame &pose_ref, const KDL::Twist &vel_ref, const KDL::Twist &acc_ref)

void setVirtualForce(const Eigen::Vector6d &virtual_force_ref)

setVirtualForce this version permits to set a virtual force which is transformed into an acceleration using:

 xddot = (JB^1J')F

where F is the virtual force, J is the task Jacobian and B is the inertia matrix. NOTICE: if the SubTask is used, due to the coupling given by the inertia matrix, the provided reference F have to contain 0 in the non controlled directions. For example:

T%{0,2,4} : F = [fx, 0, fz, 0, fp, 0]’

Parameters: virtual_force_ref –

void getReference(Eigen::Affine3d &ref) const

void getReference(KDL::Frame &ref) const

void getReference(Eigen::Affine3d &desiredPose, Eigen::Vector6d &desiredTwist) const

void getReference(KDL::Frame &desiredPose, KDL::Twist &desiredTwist) const

void getReference(Eigen::Affine3d &desiredPose, Eigen::Vector6d &desiredTwist, Eigen::Vector6d &desiredAcceleration) const

void getReference(KDL::Frame &desiredPose, KDL::Twist &desiredTwist, KDL::Twist &desiredAcceleration) const

const Eigen::Vector6d &getCachedVelocityReference() const

getCachedVelocityReference can be used to get Velocity reference after update(), it will reset next update()

Returns: internal velcity reference

const Eigen::Vector6d &getCachedAccelerationReference() const

getCachedAccelerationReference can be used to get Velocity reference after update(), it will reset next update()

Returns: internal acceleration reference

const Eigen::Vector6d &getCachedVirtualForceReference() const

getCachedVirtualForceReference can be used to get virtual force reference after update(), it will reset next update()

Returns: internal virtual force reference

const Eigen::Affine3d &getActualPose() const

void getActualPose(Eigen::Affine3d &actual) const

void getActualPose(KDL::Frame &actual)

const Eigen::Vector6d &getActualTwist() const

void getActualTwist(Eigen::Vector6d &actual) const

void getActualTwist(KDL::Twist &actual)

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

void setLambda(double lambda1, double lambda2)

virtual void setLambda(double lambda)

void getLambda(double &lambda, double &lambda2)

getLambda return both position and velocity convergence gains

Parameters

lambda – position gain
lambda2 – velocity gain

const double getLambda2() const

getLambda2 return velocity convergence gain

Returns: lambda2 gain

void setOrientationGain(double orientation_gain)

const double getOrientationErrorGain() const

const bool baseLinkIsWorld() const

bool setDistalLink(const std::string &distal_link)

Changes the distal link of the task.

It also resets the reference according to the current robot pose.

Parameters: distal_link – the new distal link
Returns: false if the distal link does not exists

bool setBaseLink(const std::string &base_link)

setBaseLink change the base link of the task

Parameters: base_link – the new base link
Returns: false if the base link does not exists

void setKp(const Eigen::Matrix6d &Kp)

setKp set position gain

Parameters: Kp – a SPD matrix

void setKd(const Eigen::Matrix6d &Kd)

setKd set velocity gain

Parameters: Kd – a SPD matrix

void setGains(const Eigen::Matrix6d &Kp, const Eigen::Matrix6d &Kd)

setGains set both position and velocity gains

Parameters

Kp – a SPD matrix
Kd – a SPD matrix

const Eigen::Matrix6d &getKp() const

getKp

Returns: position gain

const Eigen::Matrix6d &getKd() const

getKd

Returns: velocity gain

void getGains(Eigen::Matrix6d &Kp, Eigen::Matrix6d &Kd)

getGains return both position and velocity gains

Parameters

Kp –
Kd –

const Eigen::Vector6d &getError() const

getError returns the 6d cartesian error (position and orientation) between actual and reference pose

Returns: a \(R^{6}\) vector describing cartesian error between actual and reference pose

const Eigen::Vector6d &getVelocityError() const

inline const double getLambda() const

getLambda

Returns: the lambda weight of the task

Public Static Functions

static bool isCartesian(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task)

static OpenSoT::tasks::acceleration::Cartesian::Ptr asCartesian(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task)