uwv_dynamic_model::Task Class Reference

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 <Task.hpp>

Inheritance diagram for uwv_dynamic_model::Task:

Public Member Functions
	Task (std::string const &name="uwv_dynamic_model::Task", ModelSimulator simulator=DYNAMIC_KINEMATIC)
	Task (std::string const &name, RTT::ExecutionEngine *engine, ModelSimulator simulator=DYNAMIC_KINEMATIC)
	~Task ()
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
bool	checkInput (const base::LinearAngular6DCommand &control_input)
base::samples::RigidBodyState	toRBS (const PoseVelocityState &states)
PoseVelocityState	fromRBS (const base::samples::RigidBodyState &states)
base::Vector6d	toVector6d (const base::LinearAngular6DCommand &control_input)
SecondaryStates	getSecondaryStates (const base::LinearAngular6DCommand &control_input, const AccelerationState &acceleration)
void	setUncertainty (base::samples::RigidBodyState &states)
void	setSimulator (ModelSimulator simulator)
virtual void	handleStates (const base::samples::RigidBodyState &state, const base::LinearAngular6DCommand &control_input)
virtual void	setRuntimeState ()
virtual void	resetStates (void)
virtual void	setStates (::base::samples::RigidBodyState const &pose_state)

Protected Attributes
ModelSimulation *	model_simulation
ModelSimulator	simulator
base::Time	last_control_input

Friends
class	TaskBase

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','uwv_dynamic_model::Task')
end

It can be dynamically adapted when the deployment is called with a prefix argument.

Constructor & Destructor Documentation

Task() [1/2]

Task::Task	(	std::string const &	name = "uwv_dynamic_model::Task",
		ModelSimulator	simulator = DYNAMIC_KINEMATIC
	)

Task() [2/2]

Task::Task	(	std::string const &	name,
		RTT::ExecutionEngine *	engine,
		ModelSimulator	simulator = DYNAMIC_KINEMATIC
	)

~Task()

Task::~Task

(

)

Member Function Documentation

checkInput()

bool Task::checkInput ( const base::LinearAngular6DCommand &  control_input )

protected

Check controlInput for NaN and repeated timestamp.

cleanupHook()

void Task::cleanupHook

(

)

configureHook()

bool Task::configureHook

(

)

The following lines are template definitions for the various state machine.

errorHook()

void Task::errorHook

(

)

fromRBS()

PoseVelocityState Task::fromRBS ( const base::samples::RigidBodyState &  states )

protected

Convert RigidBodyState representation to PoseVelocityState

getSecondaryStates()

SecondaryStates Task::getSecondaryStates ( const base::LinearAngular6DCommand &  control_input, const AccelerationState &  acceleration  )

protected

Get secondary states

handleStates()

void Task::handleStates ( const base::samples::RigidBodyState &  state, const base::LinearAngular6DCommand &  control_input  )

protectedvirtual

Do something with data in derived class

Parameters

pose	state
effort	control_input

resetStates()

void Task::resetStates ( void  )

protectedvirtual

Resets the states of the model (position and velocity)

setRuntimeState()

void Task::setRuntimeState ( void  )

protectedvirtual

Set Runtime component state independently Default: SIMULATING

setSimulator()

void Task::setSimulator ( ModelSimulator  simulator )

protected

Sets the simulator used.

setStates()

void Task::setStates ( ::base::samples::RigidBodyState const &  pose_state )

protectedvirtual

Set the model's states to pose_state

Parameters

pose_state,the

position, orientation and velocities states used to set the model

setUncertainty()

void Task::setUncertainty ( base::samples::RigidBodyState &  states )

protected

Sets the uncertainty value for pose and velocity

startHook()

bool Task::startHook

(

)

stopHook()

void Task::stopHook

(

)

toRBS()

base::samples::RigidBodyState Task::toRBS ( const PoseVelocityState &  states )

protected

Convert PoseVelocityState representation to RigidBodyState

toVector6d()

base::Vector6d Task::toVector6d ( const base::LinearAngular6DCommand &  control_input )

protected

Convert LinearAngular6DCommand representation to Vector6d

updateHook()

void Task::updateHook

(

)

Friends And Related Function Documentation

TaskBase

friend class TaskBase

friend

Member Data Documentation

last_control_input

base::Time uwv_dynamic_model::Task::last_control_input

protected

model_simulation

ModelSimulation* uwv_dynamic_model::Task::model_simulation

protected

simulator

ModelSimulator uwv_dynamic_model::Task::simulator

protected

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

• /build/rock-master-18.09-control-orogen-uwv-dynamic-model-0.20171123/tasks/Task.hpp
• /build/rock-master-18.09-control-orogen-uwv-dynamic-model-0.20171123/tasks/Task.cpp