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AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
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AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
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The ArmShapeTask class Preferred arm Shape: an optimization task. It is a non scalar task, each joint is controlled separately and bringed to its preferred position. The activation is always the identity, so it is important that these task will be the last one which modifify yDot for the arm. More...
#include <armShapeTask.h>
Public Member Functions | |
| ArmShapeTask (int dimension, bool eqType, std::string robotName, ShapeType shapeType) | |
| int | updateMatrices (struct Infos *const robInfo) |
 Public Member Functions inherited from Task | |
| std::string | getName () |
| CMAT::Matrix | getJacobian () |
| CMAT::Matrix | getActivation () |
| CMAT::Matrix | getReference () |
| CMAT::Matrix | getError () |
| int & | getFlag_W () |
| Task::getFlag_W Various getter methods. More... | |
| double & | getMu_W () |
| Task::getMu_W Various getter methods. More... | |
| int & | getFlag_G () |
| Task::getFlag_G Various getter methods. More... | |
| double & | getMu_G () |
| Task::getMu_G Various getter methods. More... | |
| void | setFlag_W (int) |
| void | setMu_W (double) |
| void | setFlag_G (int) |
| void | setMu_G (double) |
| int | getThreshold () |
| int | getLambda () |
| int | getDof () |
| int | getDimension () |
Additional Inherited Members | |
| Public Attributes inherited from Task | |
| bool | updated |
| bool | eqType |
| double | gain |
| Protected Member Functions inherited from Task | |
| Task (int dimension, bool eqType, std::string robotName, std::string taskName) | |
| Task::Task Constructor called by sons Constructor. without argument dof, default dof from define.h file is used. More... | |
| Protected Attributes inherited from Task | |
| int | dimension |
| int | dof |
| std::string | taskName |
| std::string | robotName |
| CMAT::Matrix | J |
| CMAT::Matrix | A |
| CMAT::Matrix | reference |
| CMAT::Matrix | error |
| int | flag_W |
| double | mu_W |
| int | flag_G |
| double | mu_G |
| int | threshold |
| int | lambda |
The ArmShapeTask class Preferred arm Shape: an optimization task. It is a non scalar task, each joint is controlled separately and bringed to its preferred position. The activation is always the identity, so it is important that these task will be the last one which modifify yDot for the arm.
Another method could be set an activation different from identity e/o using the norm (in this case this task become scalar) VERY important: if task scalar and norm used, the activation is fundamental to not have a norm which go towards zero (thus generating infinite velocities)
Definition at line 20 of file armShapeTask.h.
1.8.11
