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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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"Fake" Task needed as last to algorithm, it has all fixed matrices of eye and zeros so no setxx are necessary updateMatrices is only necessary because father class Task say to implement it (it will be empty anyway) More...
#include <lastTask.h>
Public Member Functions | |
| LastTask (int dimension, bool eqType, std::string robotName) | |
 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 |
"Fake" Task needed as last to algorithm, it has all fixed matrices of eye and zeros so no setxx are necessary updateMatrices is only necessary because father class Task say to implement it (it will be empty anyway)
Definition at line 9 of file lastTask.h.
1.8.11
