Class CoM

Defined in File CoM.h

Inheritance Relationships

Base Type

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

Class Documentation

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

The CoM class implements a task that tries to control the acceleration of the CoM w.r.t.

world frame.

Public Types

typedef std::shared_ptr<CoM> Ptr

Public Functions

CoM(const XBot::ModelInterface &robot)

CoM.

Parameters: robot – the robot model

CoM(const XBot::ModelInterface &robot, const AffineHelper &qddot)

CoM.

Parameters

robot – the robot model
qddot – an affine structure variable

const std::string &getBaseLink() const

getBaseLink

Returns: “world”

const std::string &getDistalLink() const

getDistalLink

Returns: “CoM

void setReference(const Eigen::Vector3d &ref)

setReference sets a new reference for the CoM 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 \(R^{3}\) desired position
vel_ref – is a \(R^{3}\) twist describing the desired trajectory velocity
acc_ref – is a \(R^{3}\) twist describing the desired trajectory acceleration, and it represents a feed-forward term in the cartesian task computation.

void setReference(const Eigen::Vector3d &pose_ref, const Eigen::Vector3d &vel_ref)

void setReference(const Eigen::Vector3d &pose_ref, const Eigen::Vector3d &vel_ref, const Eigen::Vector3d &acc_ref)

void getReference(Eigen::Vector3d &ref) const

getReference

Parameters: ref – position reference

void getReference(Eigen::Vector3d &pos_ref, Eigen::Vector3d &vel_ref) const

void getReference(Eigen::Vector3d &pos_ref, Eigen::Vector3d &vel_ref, Eigen::Vector3d &acc_ref) const

void getActualPose(Eigen::Vector3d &actual) const

getActualPose

Parameters: actual – pose of the CoM

void getPosError(Eigen::Vector3d &error) const

virtual bool reset() override

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)

setLambda set position and velocity gains of the feedback errors

Parameters

lambda1 – postion gain
lambda2 – velocity gain

virtual void setLambda(double lambda)

setLambda set position gain of the feedback error NOTE: velocity gain is set to 2*std::sqrt(lambda)

Parameters: lambda – postion gain

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

const Eigen::Vector3d &getCachedVelocityReference() const

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

Returns: internal velcity reference

const Eigen::Vector3d &getCachedAccelerationReference() const

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

Returns: internal acceleration reference

const Eigen::Matrix3d &getKp() const

const Eigen::Matrix3d &getKd() const

void setKp(const Eigen::Matrix3d &Kp)

void setKd(const Eigen::Matrix3d &Kd)

void setGains(const Eigen::Matrix3d &Kp, const Eigen::Matrix3d &Kd)

void getGains(Eigen::Matrix3d &Kp, Eigen::Matrix3d &Kd)

inline const double getLambda() const

getLambda

Returns: the lambda weight of the task