Class Gaze

Defined in File Gaze.h

Inheritance Relationships

Base Type

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

Class Documentation

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

The Gaze class implement a Cartesian Task in which is controlled the gaze of the robot.

The algorithm used is based on the paper: “Adaptive Predictive Gaze Control of a Redundant Humanoid

Robot Head, IROS2011”. Notice that the controlled distal link is always “gaze” in a certain base_link set by the user.

Public Types

typedef std::shared_ptr<Gaze> Ptr

Public Functions

Gaze(std::string task_id, XBot::ModelInterface &robot, std::string base_link, std::string distal_link = "gaze")

~Gaze()

void setGaze(const Eigen::Affine3d &desiredGaze)

setGaze

Parameters: desiredGaze – pose of the object to observe in base_link

void setGaze(const Eigen::MatrixXd &desiredGaze)

void setGaze(const KDL::Frame &desiredGaze)

void setOrientationErrorGain(const double &orientationErrorGain)

const double getOrientationErrorGain() const

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 std::string getDistalLink()

getDistalLink return “gaze” as controlled link

Returns: string with distal link name

virtual void setLambda(double lambda)

getLambda

Returns: the lambda weight of the task

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