orca::optim::Controller Class Reference

#include <Controller.h>

Inheritance diagram for orca::optim::Controller:

Collaboration diagram for orca::optim::Controller:

Public Member Functions
	Controller (const std::string &name)
	Controller (const std::string &name, std::shared_ptr< robot::RobotModel > robot, ResolutionStrategy resolution_strategy, QPSolverImplType solver_type)
void	print () const
void	setPrintLevel (int level)
std::shared_ptr< robot::RobotModel >	robot ()
void	setRobotModel (std::shared_ptr< robot::RobotModel > robot)
bool	update (double current_time, double dt)
common::ReturnCode	getReturnCode () const
bool	addTask (std::shared_ptr< task::GenericTask > task)
bool	addTaskFromString (const std::string &task_description)
bool	addConstraintFromString (const std::string &task_description)
template<class T >
std::shared_ptr< T >	addTask (const std::string &name)
std::shared_ptr< task::GenericTask >	getTask (const std::string &name, int level=0)
std::shared_ptr< task::GenericTask >	getTask (unsigned int index, int level=0)
bool	addConstraint (std::shared_ptr< constraint::GenericConstraint > cstr)
template<class C >
std::shared_ptr< C >	addConstraint (const std::string &name)
bool	solutionFound () const
const Eigen::VectorXd &	getSolution ()
const Eigen::VectorXd &	getJointTorqueCommand (bool remove_gravity_torques=false, bool remove_coriolis_torques=false)
const Eigen::VectorXd &	computeKKTTorques ()
const Eigen::VectorXd &	getJointAccelerationCommand ()
void	activateTasksAndConstraints ()
void	activateTasks ()
void	activateConstraints ()
void	deactivateTasksAndConstraints ()
void	deactivateTasks ()
void	deactivateConstraints ()
bool	tasksAndConstraintsDeactivated ()
std::shared_ptr< task::RegularisationTask< ControlVariable::X > >	globalRegularization (int level=0)
void	setUpdateCallback (std::function< void(double, double)> update_cb)
void	removeGravityTorquesFromSolution (bool do_remove)
void	removeCoriolisTorquesFromSolution (bool do_remove)
ResolutionStrategy	getResolutionStrategy () const
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
common::MutexRecursive	mutex
	The recursive mutex to protect the update function. More...

Additional Inherited Members
Public Types inherited from orca::common::ConfigurableOrcaObject
using	Ptr = std::shared_ptr< ConfigurableOrcaObject >
using	ParamMap = std::map< std::string, ParameterBase * >

Constructor & Destructor Documentation

Controller::Controller

(

const std::string &

name

)

orca::optim::Controller::Controller	(	const std::string &	name,
		std::shared_ptr< robot::RobotModel >	robot,
		ResolutionStrategy	resolution_strategy,
		QPSolverImplType	solver_type
	)

Member Function Documentation

void Controller::activateConstraints

(

)

void Controller::activateTasks

(

)

void Controller::activateTasksAndConstraints

(

)

bool Controller::addConstraint

(

std::shared_ptr< constraint::GenericConstraint >

cstr

)

template<class C >

std::shared_ptr<C> orca::optim::Controller::addConstraint ( const std::string &  name )

inline

bool Controller::addConstraintFromString

(

const std::string &

task_description

)

bool Controller::addTask

(

std::shared_ptr< task::GenericTask >

task

)

template<class T >

std::shared_ptr<T> orca::optim::Controller::addTask ( const std::string &  name )

inline

bool Controller::addTaskFromString

(

const std::string &

task_description

)

const Eigen::VectorXd & Controller::computeKKTTorques

(

)

void Controller::deactivateConstraints

(

)

void Controller::deactivateTasks

(

)

void Controller::deactivateTasksAndConstraints

(

)

const Eigen::VectorXd & Controller::getJointAccelerationCommand

(

)

const Eigen::VectorXd & Controller::getJointTorqueCommand	(	bool	remove_gravity_torques = false,
		bool	remove_coriolis_torques = false
	)

ResolutionStrategy Controller::getResolutionStrategy

(

)

const

common::ReturnCode Controller::getReturnCode

(

)

const

const Eigen::VectorXd & Controller::getSolution

(

)

std::shared_ptr< task::GenericTask > Controller::getTask	(	const std::string &	name,
		int	level = 0
	)

std::shared_ptr< task::GenericTask > Controller::getTask	(	unsigned int	index,
		int	level = 0
	)

std::shared_ptr< task::RegularisationTask< ControlVariable::X > > Controller::globalRegularization

(

int

level = 0

)

void Controller::print

(

)

const

void Controller::removeCoriolisTorquesFromSolution

(

bool

do_remove

)

void Controller::removeGravityTorquesFromSolution

(

bool

do_remove

)

std::shared_ptr< robot::RobotModel > Controller::robot

(

)

void Controller::setPrintLevel

(

int

level

)

void Controller::setRobotModel

(

std::shared_ptr< robot::RobotModel >

robot

)

void Controller::setUpdateCallback

(

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

update_cb

)

bool Controller::solutionFound

(

)

const

bool Controller::tasksAndConstraintsDeactivated

(

)

bool Controller::update	(	double	current_time,
		double	dt
	)

Member Data Documentation

common::MutexRecursive orca::optim::Controller::mutex

mutable

The recursive mutex to protect the update function.

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

• /home/docs/checkouts/readthedocs.org/user_builds/orca-controller/checkouts/dev/include/orca/optim/Controller.h
• /home/docs/checkouts/readthedocs.org/user_builds/orca-controller/checkouts/dev/src/optim/Controller.cc