|
AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
|
|
AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
|
The VehicleNullVel class. It is a non reactive task which is needed in manipulation phases where we want the vehicle to stay still while the arm is manipulating something. In such situation, this task should be putted as the highest priority task. More...
#include <vehicleNullVelTask.h>
Public Member Functions | |
| VehicleNullVelTask (int dimension, bool eqType, std::string robotName) | |
| int | updateMatrices (struct Infos *const robInfo) |
| VehicleNull::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 |
The VehicleNullVel class. It is a non reactive task which is needed in manipulation phases where we want the vehicle to stay still while the arm is manipulating something. In such situation, this task should be putted as the highest priority task.
Definition at line 12 of file vehicleNullVelTask.h.
|
virtual |
VehicleNull::updateMatrices overriden of the pure virtual method of Task parent class.
| robInfo | struct filled with all infos needed by the task to compute the matrices |
Implements Task.
Definition at line 13 of file vehicleNullVelTask.cpp.
1.8.11
