The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. More...
#include <PIDTask.hpp>
Public Member Functions | |
| PIDTask (std::string const &name="motor_controller::PIDTask") | |
| PIDTask (std::string const &name, RTT::ExecutionEngine *engine) | |
| ~PIDTask () | |
| bool | configureHook () |
| The following lines are template definitions for the various state machine. More... | |
| bool | startHook () |
| void | updateHook () |
| void | errorHook () |
| void | stopHook () |
| void | cleanupHook () |
Protected Member Functions | |
| virtual float | computePIDOutput (int idx, base::JointState::MODE output_domain, float state, float target, base::Time now) |
Protected Attributes | |
| std::vector< motor_controller::PID > | mPIDs |
| base::samples::Joints | mStatus |
| base::commands::Joints | mInputCommand |
| base::commands::Joints | mOutputCommand |
| std::vector< motor_controller::PIDState > | mPIDState |
Friends | |
| class | PIDTaskBase |
Detailed Description
The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow.
The name of a TaskContext is primarily defined via:
deployment 'deployment_name'
task('custom_task_name','motor_controller::PIDTask')
end
It can be dynamically adapted when the deployment is called with a prefix argument.
Constructor & Destructor Documentation
◆ PIDTask() [1/2]
| PIDTask::PIDTask | ( | std::string const & | name = "motor_controller::PIDTask" | ) |
TaskContext constructor for PIDTask
- Parameters
-
name Name of the task. This name needs to be unique to make it identifiable via nameservices. initial_state The initial TaskState of the TaskContext. Default is Stopped state.
◆ PIDTask() [2/2]
| PIDTask::PIDTask | ( | std::string const & | name, |
| RTT::ExecutionEngine * | engine | ||
| ) |
TaskContext constructor for PIDTask
- Parameters
-
name Name of the task. This name needs to be unique to make it identifiable for nameservices. engine The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task.
◆ ~PIDTask()
| PIDTask::~PIDTask | ( | ) |
Default deconstructor of PIDTask
Member Function Documentation
◆ cleanupHook()
| void PIDTask::cleanupHook | ( | ) |
This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.
◆ computePIDOutput()
|
protectedvirtual |
Computes an output command
The default implementation simply calls the PID controller for the requested actuator
- Parameters
-
idx the index of the actuator we want to compute the command of output_domain the requested output domain state the current state of the actuator target the requested target for this actuator (output_domain describes how this value should be interpreted) now the current time
◆ configureHook()
| bool PIDTask::configureHook | ( | ) |
The following lines are template definitions for the various state machine.
This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.
It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):
task_context "TaskName" do needs_configuration ... end
◆ errorHook()
| void PIDTask::errorHook | ( | ) |
This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.
Call recover() to go back in the Runtime state.
◆ startHook()
| bool PIDTask::startHook | ( | ) |
This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called.
◆ stopHook()
| void PIDTask::stopHook | ( | ) |
This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.
◆ updateHook()
| void PIDTask::updateHook | ( | ) |
This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called.
The error(), exception() and fatal() calls, when called in this hook, allow to get into the associated RunTimeError, Exception and FatalError states.
In the first case, updateHook() is still called, and recover() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook(). In Exception, the component is stopped and recover() needs to be called before starting it again. Finally, FatalError cannot be recovered.
Friends And Related Function Documentation
◆ PIDTaskBase
|
friend |
Member Data Documentation
◆ mInputCommand
|
protected |
◆ mOutputCommand
|
protected |
◆ mPIDs
|
protected |
◆ mPIDState
|
protected |
◆ mStatus
|
protected |
The documentation for this class was generated from the following files:
- /build/rock-master-18.09-control-orogen-motor-controller-0.20150529/tasks/PIDTask.hpp
- /build/rock-master-18.09-control-orogen-motor-controller-0.20150529/tasks/PIDTask.cpp
