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 visp::Task:

Public Member Functions
	Task (std::string const &name="visp::Task")

	Task (std::string const &name, RTT::ExecutionEngine *engine)

	~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
void	updateFeaturesHVS (Points const &corners, vpHomogeneousMatrix const &cdMo)

vpHomogeneousMatrix	updateDesiredPose (base::LinearAngular6DCommand setpoint)

void	setGain (double gain, visp::adaptiveGains const &adaptive_gains, bool use_adaptive)

void	writeVelocities (vpColVector const &v)

base::samples::RigidBodyState	convertToRbs (vpHomogeneousMatrix pose) const

vpMatrix	jacobianFromExpectedInputs (const visp::expectedInputs &expected_inputs) const

bool	readSetpoint (base::LinearAngular6DCommand &setpoint)

bool	readCorners (Points &corners, std::string const &desired_target)

void	updateTargetParameters (std::string const &desired_target)

void	setObjectSize (double object_width, double object_height)

virtual bool	setDesired_target (std::string const &value)

Protected Attributes
visp::expectedInputs	expected_inputs

visp::controllerState	ctrl_state

base::LinearAngular6DCommand	setpoint

vpCameraParameters	cam_cal

vpServo	task

vpPoint	point [4]

vpPoint	P

vpHomogeneousMatrix	cMb

vpFeatureDepth	depth

vpFeaturePoint	p

vpFeaturePoint	pd

vpFeatureThetaU	tu

vpFeatureTranslation	t

double	Zd

std::string	desired_target

double	rotation_around_z

std::vector< visp::targetObjectParameters >	target_list

vpMatrix	eJe

vpVelocityTwistMatrix	cVb

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','visp::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 = "visp::Task" )

TaskContext constructor for Task

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.

Task::Task	(	std::string const &	name,
		RTT::ExecutionEngine *	engine
	)

TaskContext constructor for Task

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.

Task::~Task ( )

Default deconstructor of Task

Member Function Documentation

void Task::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.

bool Task::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

base::samples::RigidBodyState Task::convertToRbs ( vpHomogeneousMatrix pose ) const

protected

Convert a visp homogeneus matrix in to a RigidBodyState

Parameters

Homogeneus matrix representing a pose

Returns: Pose in the RigidBodyState type

void Task::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.

vpMatrix Task::jacobianFromExpectedInputs ( const visp::expectedInputs & expected_inputs ) const

protected

Take the expected inputs and set the jacobian matrix for the controller

Parameters

Expected inputs for the setpoint with wrt body frame

Returns: Jacobian matrix

bool Task::readCorners	(	Points &	corners,
		std::string const &	desired_target
	)

protected

Read the input port and select among the VisualFeaturePoint vector the one who was the same identifier as "desired_target". Then update it features and return the corners of the desired target.

Parameters

vector	of corners
desired	target identifier

Returns: true if the corners could be retrieved, false if the desired target was not detected.

bool Task::readSetpoint ( base::LinearAngular6DCommand & setpoint )

protected

Read the setpoint input port.

Parameters

Setpoint. Body position in the object frame

Returns: True if there is any setpoint available, false if the input port was never writen

bool Task::setDesired_target ( std::string const & value )

protectedvirtual

Update the dynamic property "desired_target"

Parameters

string containing the desired target's identifier

void Task::setGain	(	double	gain,
		visp::adaptiveGains const &	adaptive_gains,
		bool	use_adaptive
	)

protected

Set the controller gain

Parameters

static	gain
adaptive	gains value
set	the adaptive gains if true. If false, use the static gain instead.

void Task::setObjectSize	(	double	object_width,
		double	object_height
	)

protected

Set the objetc size

Parameters

target	width
target	height

bool Task::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.

void Task::stopHook ( )

This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

vpHomogeneousMatrix Task::updateDesiredPose ( base::LinearAngular6DCommand setpoint )

protected

Update the desired pose according to a setpoint. The setpoint is the desired object pose in the vehicle's frame.

Parameters

Desired body position with resepct to the visual feature

Returns: The desired pose of the object in the camera frame

void Task::updateFeaturesHVS	(	Points const &	corners,
		vpHomogeneousMatrix const &	cdMo
	)

protected

Update the visual features of a hibrid visual controller.

Parameters

detected	corners
desired	object pose in the camera frame

Update Feature 1 - p

Update Feature 2 - depth

Update Feature 3 - t, tu

void Task::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.

void Task::updateTargetParameters ( std::string const & desired_target )

protected

Look for the parameters of a target in a given target list and update it. An exception is raised if there is no desired_target in the target list.

Parameters

target's name

void Task::writeVelocities ( vpColVector const & v )

protected

Write the computed velocities to the output port

Parameters

computed velocities

Friends And Related Function Documentation

friend class TaskBase

friend

Member Data Documentation

vpCameraParameters visp::Task::cam_cal

protected

vpHomogeneousMatrix visp::Task::cMb

protected

visp::controllerState visp::Task::ctrl_state

protected

vpVelocityTwistMatrix visp::Task::cVb

protected

vpFeatureDepth visp::Task::depth

protected

std::string visp::Task::desired_target

protected

vpMatrix visp::Task::eJe

protected

visp::expectedInputs visp::Task::expected_inputs

protected

vpPoint visp::Task::P

protected

vpFeaturePoint visp::Task::p

protected

vpFeaturePoint visp::Task::pd

protected

vpPoint visp::Task::point[4]

protected

double visp::Task::rotation_around_z

protected

base::LinearAngular6DCommand visp::Task::setpoint

protected

vpFeatureTranslation visp::Task::t

protected

std::vector<visp::targetObjectParameters> visp::Task::target_list

protected

vpServo visp::Task::task

protected

vpFeatureThetaU visp::Task::tu

protected

double visp::Task::Zd

protected

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

/build/rock-master-18.09-control-orogen-visp-0.20170420/tasks/Task.hpp
/build/rock-master-18.09-control-orogen-visp-0.20170420/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