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

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

Task::~Task ( )

Member Function Documentation

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

protected

Check controlInput for NaN and repeated timestamp.

void Task::cleanupHook ( )

bool Task::configureHook ( )

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

void Task::errorHook ( )

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

protected

Convert RigidBodyState representation to PoseVelocityState

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

protected

Get secondary states

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

void Task::resetStates ( void )

protectedvirtual

Resets the states of the model (position and velocity)

void Task::setRuntimeState ( void )

protectedvirtual

Set Runtime component state independently Default: SIMULATING

void Task::setSimulator ( ModelSimulator simulator )

protected

Sets the simulator used.

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

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

protected

Sets the uncertainty value for pose and velocity

bool Task::startHook ( )

void Task::stopHook ( )

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

protected

Convert PoseVelocityState representation to RigidBodyState

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

protected

Convert LinearAngular6DCommand representation to Vector6d

void Task::updateHook ( )

Friends And Related Function Documentation

friend class TaskBase

friend

Member Data Documentation

base::Time uwv_dynamic_model::Task::last_control_input

protected

ModelSimulation* uwv_dynamic_model::Task::model_simulation

protected

ModelSimulator uwv_dynamic_model::Task::simulator

protected

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

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation