Task to make the end effector reach a goal (both linear and angular position) More...

Inheritance diagram for EndEffectorReachTask:

Public Member Functions
	EndEffectorReachTask (int dimension, bool eqType, std::string robotName)
	EndEffectorReachTask::EndEffectorReachTask Constructor of specific task simply calls the parent constructor through inizializer list. More...

int	updateMatrices (struct Infos *const robInfo)
	VehicleReachTask::updateMatrices overriden of the pure virtual method of Task parent class. More...

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

Detailed Description

Task to make the end effector reach a goal (both linear and angular position)

Definition at line 11 of file endEffectorReachTask.h.

Constructor & Destructor Documentation

EndEffectorReachTask::EndEffectorReachTask	(	int	dim,
		bool	eqType,
		std::string	robotName
	)

EndEffectorReachTask::EndEffectorReachTask Constructor of specific task simply calls the parent constructor through inizializer list.

Parameters

dim	dimension of the task (e.g. 1 for scalar task)
eqType	true or false for equality or inequality task
robotName	name of robot to prints info
pt	enum to decide which point control: if ee: the control point is the end effector if tool: the control point is the tool (so it is the tool frame which will reach the goal)

Definition at line 13 of file endEffectorReachTask.cpp.

int EndEffectorReachTask::updateMatrices ( struct Infos *const robInfo )

virtual

VehicleReachTask::updateMatrices overriden of the pure virtual method of Task parent class.

Parameters

robInfo struct filled with all transformations needed by the task to compute the matrices

Implements Task.

Definition at line 24 of file endEffectorReachTask.cpp.

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