The common base class for tasks and constraints. More...

#include <TaskBase.h>

Inheritance diagram for orca::common::TaskBase:

Collaboration diagram for orca::common::TaskBase:

Public Types
enum	State { Init = 0, Resized, Activating, Activated, Deactivating, Deactivated, Error }
	Represents the internal state of the task. More...

using	Ptr = std::shared_ptr< TaskBase >

Public Types inherited from orca::common::ConfigurableOrcaObject
using	Ptr = std::shared_ptr< ConfigurableOrcaObject >

using	ParamMap = std::map< std::string, ParameterBase * >

Public Member Functions
	TaskBase (const std::string &name, optim::ControlVariable control_var)

virtual	~TaskBase ()

bool	isActivated () const

bool	isComputing () const

bool	setRobotModel (robot::RobotModel::Ptr robot)

optim::ControlVariable	getControlVariable () const

virtual bool	activate ()

virtual void	update (double current_time, double dt)

virtual bool	deactivate ()

virtual void	print () const

virtual bool	setProblem (std::shared_ptr< const orca::optim::Problem > problem)

bool	hasProblem () const

bool	hasRobot () const

bool	dependsOnProblem () const

bool	dependsOnWrench () const

bool	dependsOnRobotJoints () const

bool	dependsOnFloatingBase () const

bool	hasWrench () const

bool	isRobotInitialized () const

State	getState () const

void	setRampDuration (double ramp_time)

double	getRampDuration () const

double	getCurrentRampValue () const

double	getStartTime () const

double	getStopTime () const

std::shared_ptr< const optim::Problem >	getProblem () const

std::shared_ptr< const common::Wrench >	getWrench () const

std::shared_ptr< const robot::RobotModel >	getRobot () const

void	addChild (TaskBase::Ptr e)
	Add a child/slave task that will be updated BEFORE the parent task. More...

bool	hasParent () const
	Returns true if the task owned by a parent task. More...

bool	hasChildren () const
	Returns true if the task has children. More...

const std::string &	getParentName () const
	Returns the parent name if it exists, empty otherwise. More...

const std::string &	getPrintableName () const
	Returns the name that include parent name if present. More...

void	onResizedCallback (std::function< void(void)> cb)

void	onActivationCallback (std::function< void(void)> cb)

void	onActivatedCallback (std::function< void(void)> cb)

void	onComputeBeginCallback (std::function< void(double, double)> cb)

void	onComputeEndCallback (std::function< void(double, double)> cb)

void	onDeactivationCallback (std::function< void(void)> cb)

void	onDeactivatedCallback (std::function< void(void)> cb)

Public Member Functions inherited from orca::common::ConfigurableOrcaObject
	ConfigurableOrcaObject (const std::string &config_name)

virtual	~ConfigurableOrcaObject ()

template<class T >
void	addParameter (const std::string &param_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...

template<class T >
void	addParameter (const std::string &param_name, T &param, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0)

ParameterBase *	getParameter (const std::string &param_name)
	Returns a param via its name. More...

void	printParameters () const
	Print all parameters to std::cout. More...

bool	configureFromFile (const std::string &yaml_url)
	Configure the task from YAML/JSON file. It must contain all the required parameters. More...

bool	configureFromString (const std::string &yaml_str)
	Configure the task from YAML/JSON string. It must contain all the required parameters. More...

bool	isConfigured () const

const ParamMap &	getParameters () const

void	onConfigureSuccess (std::function< void()> f)

Public Member Functions inherited from orca::common::OrcaObject
	OrcaObject (const std::string &name)

virtual	~OrcaObject ()

const std::string &	getName () const

void	setName (const std::string &name)

Public Attributes
orca::common::MutexRecursive	mutex
	The recursive mutex that is locked during the update function. It is up to the external user to lock this mutex to protect the task attributes. More...

Protected Member Functions
virtual void	resize ()

robot::RobotModel::Ptr	robot ()

std::shared_ptr< Wrench >	wrench ()

virtual void	onResize ()=0

virtual void	onResized ()

virtual void	onActivation ()

virtual void	onActivated ()

virtual bool	rampUp (double time_since_start)

void	setRampValue (double new_val)

virtual void	onCompute (double current_time, double dt)=0

virtual bool	rampDown (double time_since_stop)

virtual void	onDeactivation ()

virtual void	onDeactivated ()

Detailed Description

The common base class for tasks and constraints.

This class contains a model of the robot, the problem in which the tasks is currently being used, and a state machine. Although this class is called TaskBase, both tasks and constraints inherit from this.

Member Typedef Documentation

using orca::common::TaskBase::Ptr = std::shared_ptr<TaskBase>

Member Enumeration Documentation

enum orca::common::TaskBase::State

Represents the internal state of the task.

Enumerator
Init	Task is instanciated
Resized	The robot and the problem have been set
Activating	Task is running but ramping up
Activated	Task is running
Deactivating	Task is running but ramping down
Deactivated	Task has finishing ramping down and is now stopped
Error	Task update returned an error (not used yet)

Constructor & Destructor Documentation

TaskBase::TaskBase	(	const std::string &	name,
		optim::ControlVariable	control_var
	)

TaskBase::~TaskBase ( )

virtual

Member Function Documentation

bool TaskBase::activate ( )

virtual

void TaskBase::addChild ( TaskBase::Ptr e )

Add a child/slave task that will be updated BEFORE the parent task.

bool TaskBase::deactivate ( )

virtual

bool TaskBase::dependsOnFloatingBase ( ) const

bool TaskBase::dependsOnProblem ( ) const

bool TaskBase::dependsOnRobotJoints ( ) const

bool TaskBase::dependsOnWrench ( ) const

ControlVariable TaskBase::getControlVariable ( ) const

double TaskBase::getCurrentRampValue ( ) const

const std::string & TaskBase::getParentName ( ) const

Returns the parent name if it exists, empty otherwise.

const std::string & TaskBase::getPrintableName ( ) const

Returns the name that include parent name if present.

std::shared_ptr< const Problem > TaskBase::getProblem ( ) const

double TaskBase::getRampDuration ( ) const

std::shared_ptr< const RobotModel > TaskBase::getRobot ( ) const

double TaskBase::getStartTime ( ) const

TaskBase::State TaskBase::getState ( ) const

double TaskBase::getStopTime ( ) const

std::shared_ptr< const Wrench > TaskBase::getWrench ( ) const

bool TaskBase::hasChildren ( ) const

Returns true if the task has children.

bool TaskBase::hasParent ( ) const

Returns true if the task owned by a parent task.

bool TaskBase::hasProblem ( ) const

bool TaskBase::hasRobot ( ) const

bool TaskBase::hasWrench ( ) const

bool TaskBase::isActivated ( ) const

bool TaskBase::isComputing ( ) const

bool TaskBase::isRobotInitialized ( ) const

virtual void orca::common::TaskBase::onActivated ( )

inlineprotectedvirtual

void TaskBase::onActivatedCallback ( std::function< void(void)> cb )

virtual void orca::common::TaskBase::onActivation ( )

inlineprotectedvirtual

Reimplemented in orca::common::CartesianAccelerationPID, orca::common::Wrench, orca::task::WrenchTask, orca::task::JointTorqueTask, orca::task::CartesianTask, orca::task::JointAccelerationTask, orca::task::RegularisationTask< C >, orca::constraint::ContactExistenceConditionConstraint, and orca::constraint::JointPositionLimitConstraint.

void TaskBase::onActivationCallback ( std::function< void(void)> cb )

virtual void orca::common::TaskBase::onCompute	(	double	current_time,
		double	dt
	)

protectedpure virtual

Implemented in orca::common::CartesianAccelerationPID, orca::constraint::GenericConstraint, orca::constraint::Contact, and orca::common::Wrench.

void TaskBase::onComputeBeginCallback ( std::function< void(double, double)> cb )

void TaskBase::onComputeEndCallback ( std::function< void(double, double)> cb )

virtual void orca::common::TaskBase::onDeactivated ( )

inlineprotectedvirtual

Reimplemented in orca::common::Wrench.

void TaskBase::onDeactivatedCallback ( std::function< void(void)> cb )

virtual void orca::common::TaskBase::onDeactivation ( )

inlineprotectedvirtual

Reimplemented in orca::task::GenericTask, and orca::task::RegularisationTask< C >.

void TaskBase::onDeactivationCallback ( std::function< void(void)> cb )

virtual void orca::common::TaskBase::onResize ( )

protectedpure virtual

Implemented in orca::common::CartesianAccelerationPID, orca::constraint::GenericConstraint, orca::constraint::Contact, orca::common::Wrench, orca::task::WrenchTask, orca::constraint::LinearizedCoulombConstraint, orca::task::RegularisationTask< C >, orca::task::CartesianTask, orca::task::JointTorqueTask, orca::task::JointAccelerationTask, orca::constraint::ContactExistenceConditionConstraint, orca::constraint::JointLimitConstraint, and orca::constraint::DynamicsEquationConstraint.

virtual void orca::common::TaskBase::onResized ( )

inlineprotectedvirtual

void TaskBase::onResizedCallback ( std::function< void(void)> cb )

void TaskBase::print ( ) const

virtual

Reimplemented in orca::common::CartesianAccelerationPID, orca::task::GenericTask, orca::constraint::GenericConstraint, orca::common::Wrench, and orca::task::CartesianTask.

bool TaskBase::rampDown ( double time_since_stop )

protectedvirtual

Reimplemented in orca::task::GenericTask.

bool TaskBase::rampUp ( double time_since_start )

protectedvirtual

Reimplemented in orca::task::GenericTask.

void TaskBase::resize ( )

protectedvirtual

std::shared_ptr< RobotModel > TaskBase::robot ( )

protected

bool TaskBase::setProblem ( std::shared_ptr< const orca::optim::Problem > problem )

virtual

void TaskBase::setRampDuration ( double ramp_time )

void TaskBase::setRampValue ( double new_val )

protected

bool TaskBase::setRobotModel ( robot::RobotModel::Ptr robot )

void TaskBase::update	(	double	current_time,
		double	dt
	)

virtual

std::shared_ptr< Wrench > TaskBase::wrench ( )

protected

Member Data Documentation

orca::common::MutexRecursive orca::common::TaskBase::mutex

mutable

The recursive mutex that is locked during the update function. It is up to the external user to lock this mutex to protect the task attributes.

The documentation for this class was generated from the following files:

/home/docs/checkouts/readthedocs.org/user_builds/orca-controller/checkouts/dev/include/orca/common/TaskBase.h
/home/docs/checkouts/readthedocs.org/user_builds/orca-controller/checkouts/dev/src/common/TaskBase.cc

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation