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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 ForceInsertTask class to help the inserting phase with force torque sensor this task is to generate velocity such that the forces are nullified. More...
#include <forceInsertTask.h>
Public Member Functions | |
| ForceInsertTask (int dimension, bool eqType, std::string robotName) | |
| ForceInsertTask::ForceInsertTask. More... | |
| 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 ForceInsertTask class to help the inserting phase with force torque sensor this task is to generate velocity such that the forces are nullified.
DIMENSION: this parameters tells the type of the task: 1 Norm of only forces (linear one) is the element to nullify 2 Norm of both forces and torques are the two element to nullify BEST ONE 3 Forces (linear) all its three components 6 NOT IMPLEMENTED all components of forces and torques
Without norm task impose useless constrain to lower priority task. So the best is use the norms
Definition at line 21 of file forceInsertTask.h.
| ForceInsertTask::ForceInsertTask | ( | int | dim, |
| bool | eqType, | ||
| std::string | robotName | ||
| ) |
ForceInsertTask::ForceInsertTask.
| dim | |
| eqType | |
| robotName |
Definition at line 9 of file forceInsertTask.cpp.
1.8.11
