Class Postural

Defined in File Postural.h

Inheritance Relationships

Base Type

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

Derived Type

public OpenSoT::tasks::velocity::JointAdmittance (Class JointAdmittance)

Class Documentation

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

The Postural class implements a task that tries to bring the robust posture to a reference posture.

You can see an example of it in example_postural.cpp

Subclassed by OpenSoT::tasks::velocity::JointAdmittance

Public Types

typedef std::shared_ptr<Postural> Ptr

Public Functions

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

~Postural()

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

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

setReference sets a new reference for the Postural task.

It causes the task error to be recomputed immediately, without the need to call the _update(x) function. It also assumes a null desired velocity at the desired position, meaning we are trying to achieve a regulation task.

Parameters: x_desired – the \(R^{n_x}\) vector describing the desired joint position

void setReference(const Eigen::VectorXd &x_desired, const Eigen::VectorXd &xdot_desired)

setReference sets a new reference for the Postural task.

It causes the task error to be recomputed immediately, without the need to call the _update(x) function Notice how the setReference(x_desired, xdot_desired) needs to be called before each _update(x) of the Postural task, since THE _update() RESETS THE FEED-FORWARD VELOCITY TERM for safety reasons.

Parameters

x_desired – the \(R^{n_x}\) vector of desired joint positions.
xdot_desired – is a \(R^{n_x}\) vector describing the desired joint velocities, and it represents a feed-forward term in the Postural task computation NOTICE how the velocities are in rad/sample, instead of rad/s. This means that if you have a velocity expressed in SI units, you have to call the function as setReference(x_desired, xdot_desired*dt)

const Eigen::VectorXd &getReference() const

getReference returns the Postural task reference

Returns: the \(R^{n_x}\) Postural task reference

const Eigen::VectorXd &getCachedVelocityReference() const

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

Returns: internal velcity reference

void getReference(Eigen::VectorXd &x_desired, Eigen::VectorXd &xdot_desired) const

getReference gets the current reference and feed-forward velocity for the Postural task.

Parameters

x_desired – the \(R^{n_x}\) vector describing the desired position of the COM in the world coordinate frame.
xdot_desired – is a \(R^{n_x}\) twist describing the desired trajectory velocity, and it represents a feed-forward term in the task computation

virtual void setLambda(double lambda)

const Eigen::VectorXd &getActualPositions() const

getActualPositions return the actual state position of the task

Returns: vector of joints positions

const Eigen::VectorXd &getError() const

getError return the error between the desired and actual joint position values

Returns: vector of errors

virtual bool reset()

reset set as actual joint reference the actual pose

Returns

Public Static Functions

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

static OpenSoT::tasks::velocity::Postural::Ptr asPostural(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task)

Protected Functions

void update_b()

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

_log can be used to log internal Task variables

Parameters: logger – a shared pointer to a MatLogger

Protected Attributes

Eigen::VectorXd _q_desired

Eigen::VectorXd _dq

Eigen::VectorXd _v_desired

Eigen::VectorXd _v_desired_ref

Eigen::VectorXd _q

const XBot::ModelInterface &_robot