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| JointTorqueTask (const std::string &name) |
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void | setDesired (const Eigen::VectorXd &jnt_trq_des) |
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void | setCurrent (const Eigen::VectorXd &jointTorque) |
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common::PIDController::Ptr | pid () |
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void | setFeedforward (const Eigen::VectorXd &ff) |
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const Eigen::VectorXd & | getFeedforward () const |
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| GenericTask (const std::string &name, optim::ControlVariable control_var) |
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virtual | ~GenericTask () |
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double | getWeight () const |
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void | setWeight (double weight) |
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math::Size | getSize () const |
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int | cols () const |
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int | rows () const |
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math::WeightedEuclidianNormFunction & | euclidianNorm () |
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const math::WeightedEuclidianNormFunction & | getEuclidianNorm () const |
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const Eigen::MatrixXd & | getE () const |
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const Eigen::VectorXd & | getf () const |
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void | setE (const Eigen::MatrixXd &newE) |
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void | setf (const Eigen::VectorXd &newf) |
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virtual void | print () const |
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const math::WeightedEuclidianNormFunction::QuadraticCost & | getQuadraticCost () const |
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Eigen::MatrixXd & | E () |
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Eigen::VectorXd & | f () |
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virtual bool | rampUp (double time_since_start) |
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virtual void | onDeactivation () |
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virtual bool | rampDown (double time_since_stop) |
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| TaskBase (const std::string &name, optim::ControlVariable control_var) |
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virtual | ~TaskBase () |
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bool | isActivated () const |
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bool | isComputing () const |
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bool | setRobotModel (robot::RobotModel::Ptr robot) |
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optim::ControlVariable | getControlVariable () const |
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virtual bool | activate () |
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virtual void | update (double current_time, double dt) |
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virtual bool | deactivate () |
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virtual bool | setProblem (std::shared_ptr< const orca::optim::Problem > problem) |
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bool | hasProblem () const |
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bool | hasRobot () const |
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bool | dependsOnProblem () const |
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bool | dependsOnWrench () const |
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bool | dependsOnRobotJoints () const |
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bool | dependsOnFloatingBase () const |
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bool | hasWrench () const |
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bool | isRobotInitialized () const |
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State | getState () const |
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void | setRampDuration (double ramp_time) |
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double | getRampDuration () const |
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double | getCurrentRampValue () const |
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double | getStartTime () const |
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double | getStopTime () const |
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std::shared_ptr< const optim::Problem > | getProblem () const |
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std::shared_ptr< const common::Wrench > | getWrench () const |
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std::shared_ptr< const robot::RobotModel > | getRobot () const |
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void | addChild (TaskBase::Ptr e) |
| Add a child/slave task that will be updated BEFORE the parent task. More...
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bool | hasParent () const |
| Returns true if the task owned by a parent task. More...
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bool | hasChildren () const |
| Returns true if the task has children. More...
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const std::string & | getParentName () const |
| Returns the parent name if it exists, empty otherwise. More...
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const std::string & | getPrintableName () const |
| Returns the name that include parent name if present. More...
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void | onResizedCallback (std::function< void(void)> cb) |
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void | onActivationCallback (std::function< void(void)> cb) |
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void | onActivatedCallback (std::function< void(void)> cb) |
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void | onComputeBeginCallback (std::function< void(double, double)> cb) |
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void | onComputeEndCallback (std::function< void(double, double)> cb) |
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void | onDeactivationCallback (std::function< void(void)> cb) |
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void | onDeactivatedCallback (std::function< void(void)> cb) |
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| ConfigurableOrcaObject (const std::string &config_name) |
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virtual | ~ConfigurableOrcaObject () |
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template<class T > |
void | addParameter (const std::string ¶m_name, Parameter< T > *param, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0) |
| Returns true if all params added with have been set. More...
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template<class T > |
void | addParameter (const std::string ¶m_name, T ¶m, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0) |
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ParameterBase * | getParameter (const std::string ¶m_name) |
| Returns a param via its name. More...
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void | printParameters () const |
| Print all parameters to std::cout. More...
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bool | configureFromFile (const std::string &yaml_url) |
| Configure the task from YAML/JSON file. It must contain all the required parameters. More...
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bool | configureFromString (const std::string &yaml_str) |
| Configure the task from YAML/JSON string. It must contain all the required parameters. More...
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bool | isConfigured () const |
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const ParamMap & | getParameters () const |
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void | onConfigureSuccess (std::function< void()> f) |
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| OrcaObject (const std::string &name) |
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virtual | ~OrcaObject () |
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const std::string & | getName () const |
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void | setName (const std::string &name) |
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