Class Postural

Defined in File Postural.h

Inheritance Relationships

Base Type

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

Class Documentation

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

The Postural class implement a postural task on the ACTUATED joints.

Underactuated joints are not considered. NOTICE that input vectors and matrices anyway consider the full 6+n state

Public Types

typedef std::shared_ptr<Postural> Ptr

Public Functions

Postural(const XBot::ModelInterface &robot, AffineHelper qddot, const std::string task_id = "Postural")

Postural(const XBot::ModelInterface &robot, const std::string task_id = "Postural")

void setGainType(GainType type)

GainType getGainType() const

void setReference(const Eigen::VectorXd &qref)

setReference sets a new reference for the postural actuated part.

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

qref – the desired position 6+n vector, first 6 joints are removed
dqref – describe the desired trajectory velocity 6+n vector, first 6 joints are removed
ddqref – describe the desired trajectory acceleration, and it represents a feed-forward term in task computation, 6+n vector, first 6 joints are removed.

void setReference(const Eigen::VectorXd &qref, const Eigen::VectorXd &dqref)

void setReference(const Eigen::VectorXd &qref, const Eigen::VectorXd &dqref, const Eigen::VectorXd &ddqref)

const Eigen::VectorXd &getReference() const

getReference return references (6+n vectors)

Returns: joint position, velocity and acceleration desired

void getReference(Eigen::VectorXd &q_desired) const

void getReference(Eigen::VectorXd &q_desired, Eigen::VectorXd &qdot_desired) const

void getReference(Eigen::VectorXd &q_desired, Eigen::VectorXd &qdot_desired, Eigen::VectorXd &qddot_desired) const

const Eigen::VectorXd &getActualPositions() const

const Eigen::VectorXd &getError() const

getError

Returns: position error vector (6+n vector)

const Eigen::VectorXd &getVelocityError() const

getVelocityError

Returns: velocity error vector (6+n vector)

void setLambda(double lambda1, double lambda2)

setLambda

Parameters

lambda1 –
lambda2 –

virtual void setLambda(double lambda)

setLambda

Parameters: 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

virtual bool reset()

reset position reference to actual, velcoity and accelration to 0

Returns: true

const Eigen::VectorXd &getCachedVelocityReference() const

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

Returns: internal velcity reference

const Eigen::VectorXd &getCachedAccelerationReference() const

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

Returns: internal acceleration reference

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

setKp set position gain

Parameters: Kp – a SPD matrix (n+6 x n+6), first 6 elements are not used

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

setKd set velocity gain

Parameters: Kd – a SPD matrix (n+6 x n+6), first 6 elements are not used

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

setGains set both position and velocity gains

Parameters

Kp – a SPD matrix (n+6 x n+6), first 6 elements are not used
Kd – a SPD matrix (n+6 x n+6), first 6 elements are not used

const Eigen::MatrixXd &getKp() const

getKp

Returns: position gain (n+6 x n+6), first 6 elements are not used

const Eigen::MatrixXd &getKd() const

getKd

Returns: velocity gain (n+6 x n+6), first 6 elements are not used

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

getGains return both position and velocity gains

Parameters

Kp – (n+6 x n+6), first 6 elements are not used
Kd – (n+6 x n+6), first 6 elements are not used

inline const double getLambda() const

getLambda

Returns: the lambda weight of the task