BipedalLocomotion::IK::JointTrackingTask class
#include <BipedalLocomotion/IK/JointTrackingTask.h>

JointsTrackingTask is a concrete implementation of the Task.

Please use this element if you want to control the desired joint position of the robot. The task represents the following equation

where and are the zero and the identity matrix. The desired joint velocity is chosen such that the joint will converge to the desired trajectory and it is computed with a standard standard PD controller in .

Base classes

struct IKLinearTask: IKLinearTask specializes a LinearTask in the case of Inverse Kinematics.

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) -> bool override: Initialize the task.
auto setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) -> bool override: 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(Eigen::Ref<const Eigen::VectorXd> jointPosition) -> bool: Set the desired setpoint.
auto setSetPoint(Eigen::Ref<const Eigen::VectorXd> jointPosition, Eigen::Ref<const Eigen::VectorXd> jointVelocity) -> bool: Set the desired setpoint.
auto size() const -> std::size_t override: Get the size of the task.
auto type() const -> Type override: The JointsTrackingTask is an equality task.
auto isValid() const -> bool override: Determines the validity of the objects retrieved with getA() and getB()

Function documentation

bool BipedalLocomotion::IK::JointTrackingTask::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) override

Initialize the task.

Parameters
paramHandler	pointer to the parameters handler.
Returns	True in case of success, false otherwise. Where the generalized robot velocity is a vector containing the base spatial-velocity (expressed in mixed representation) and the joint velocities.

Note

the following parameters are required by the class

Parameter Name	Type	Description	Mandatory
`robot_velocity_variable_name`	`string`	Name of the variable contained in `VariablesHandler` describing the robot velocity	Yes
`kp`	`vector`	Proportional controller gain	Yes

bool BipedalLocomotion::IK::JointTrackingTask::setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) override

Set the kinDynComputations object.

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

bool BipedalLocomotion::IK::JointTrackingTask::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::IK::JointTrackingTask::update() override

Update the content of the element.

Returns	True in case of success, false otherwise.

bool BipedalLocomotion::IK::JointTrackingTask::setSetPoint(Eigen::Ref<const Eigen::VectorXd> jointPosition)

Set the desired setpoint.

Parameters
jointPosition	vector containing the desired joint position in radians.
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::IK::JointTrackingTask::setSetPoint(Eigen::Ref<const Eigen::VectorXd> jointPosition, Eigen::Ref<const Eigen::VectorXd> jointVelocity)

Set the desired setpoint.

Parameters
jointPosition	vector containing the desired joint position in radians.
jointVelocity	vector containing the desired joint velocity in radians per second.
Returns	True in case of success, false otherwise.

std::size_t BipedalLocomotion::IK::JointTrackingTask::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::IK::JointTrackingTask::type() const override

The JointsTrackingTask is an equality task.

Returns	the size of the task.

bool BipedalLocomotion::IK::JointTrackingTask::isValid() const override

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

Returns	True if the objects are valid, false otherwise.