BipedalLocomotion::TSID::SE3Task class

SE3Task is a concrete implementation of the OptimalControlElement.

Please use this element if you want to control the position and the orientation of a given frame rigidly attached to the robot. The task assumes perfect control of the robot acceleration $\dot{\nu}$ that contains the base linear and angular acceleration expressed in mixed representation and the joints acceleration. The task represents the following equation

\[ J \dot{\nu} + \dot{J} \nu = \dot{\mathrm{v}} ^ * \]

where $J$ is the robot jacobian and $\dot{\mathrm{v}} ^ *$ is the desired acceleration. The desired acceleration is chosen such that the frame will asymptotically converge to the desired trajectory. The linear component of $\dot{\mathrm{v}} ^ *$ is computed with a standard PD controller in $R^3$ while the angular acceleration is computed by a PD controller in $SO(3)$ .

Base classes

struct TSIDLinearTask
TSIDLinearTask specializes a LinearTask in the case of Task based Inverse Dynamics.
struct BipedalLocomotion::System::ITaskControllerManager
ITaskControllerManager is an interface that can help you to handle tasks containing controllers.

Public types

using Mode = System::ITaskControllerManager::Mode

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) -> bool override
Initialize the planner.
auto setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) -> bool
Set the kinDynComputations object.
auto setVariablesHandler(const System::VariablesHandler& variablesHandler) -> bool override
Set the set of variables required by the task.
auto update() -> bool override
Update the content of the element.
auto setSetPoint(const manif::SE3d& I_H_F, const manif::SE3d::Tangent& mixedVelocity, const manif::SE3d::Tangent& mixedAcceleration) -> bool
Set the desired reference trajectory.
auto size() const -> std::size_t override
Get the size of the task.
auto type() const -> Type override
The SE3Task is an equality task.
auto isValid() const -> bool override
Determines the validity of the objects retrieved with getA() and getB()
void setTaskControllerMode(Mode mode) override
Set the task controller mode.
auto getTaskControllerMode() const -> Mode override
Get the task controller mode.
auto getControllerOutput() const -> Eigen::Ref<const Eigen::VectorXd>
Get the controller output.

Function documentation

bool BipedalLocomotion::TSID::SE3Task::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) override

Initialize the planner.

Parameters
paramHandler pointer to the parameters handler.
Returns True in case of success, false otherwise.

bool BipedalLocomotion::TSID::SE3Task::setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn)

Set the kinDynComputations object.

Parameters
kinDyn pointer to a kinDynComputations object.
Returns True in case of success, false otherwise.

bool BipedalLocomotion::TSID::SE3Task::setVariablesHandler(const System::VariablesHandler& variablesHandler) override

Set the set of variables required by the task.

Parameters
variablesHandler reference to a variables handler.
Returns True in case of success, false otherwise.

The variables are stored in the System::VariablesHandler.

bool BipedalLocomotion::TSID::SE3Task::update() override

Update the content of the element.

Returns True in case of success, false otherwise.

bool BipedalLocomotion::TSID::SE3Task::setSetPoint(const manif::SE3d& I_H_F, const manif::SE3d::Tangent& mixedVelocity, const manif::SE3d::Tangent& mixedAcceleration)

Set the desired reference trajectory.

Parameters
I_H_F Homogeneous transform between the link and the inertial frame.
mixedVelocity 6D-velocity written in mixed representation.
mixedAcceleration 6D-acceleration written in mixed representation.
Returns True in case of success, false otherwise.

std::size_t BipedalLocomotion::TSID::SE3Task::size() const override

Get the size of the task.

Returns the size of the task.

(I.e the number of rows of the vector b)

Type BipedalLocomotion::TSID::SE3Task::type() const override

The SE3Task is an equality task.

Returns the type of the task.

bool BipedalLocomotion::TSID::SE3Task::isValid() const override

Determines the validity of the objects retrieved with getA() and getB()

Returns True if the objects are valid, false otherwise.

void BipedalLocomotion::TSID::SE3Task::setTaskControllerMode(Mode mode) override

Set the task controller mode.

Please use this method to disable/enable the Proportional Derivative controller implemented in this task.

Mode BipedalLocomotion::TSID::SE3Task::getTaskControllerMode() const override

Get the task controller mode.

Returns the state of the controller

Eigen::Ref<const Eigen::VectorXd> BipedalLocomotion::TSID::SE3Task::getControllerOutput() const

Get the controller output.

Returns a const reference to the controller output.