BipedalLocomotion::IK::SO3Task class
#include <BipedalLocomotion/IK/SO3Task.h>

SO3Task is a concrete implementation of the IK::Task.

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 velocity $\dot{\nu}$ that contains the base linear and angular velocity expressed in mixed representation and the joint velocities. The task represents the following equation

\[ J_\omega \nu = \omega ^ * \]

where $J_\omega$ is the angular part of the robot Jacobian and $\omega ^ *$ is the desired velocity. The desired velocity is chosen such that the orientation of the frame will asymptotically converge to the desired trajectory. $\omega ^ *$ is computed with a Proportional controller in $SO(3)$ .

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(const manif::SO3d& I_R_F, const manif::SO3d::Tangent& angularVelocity = manif::SO3d::Tangent::Zero()) -> 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 SO3Task 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::SO3Task::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.

bool BipedalLocomotion::IK::SO3Task::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::SO3Task::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::SO3Task::update() override

Update the content of the element.

Returns True in case of success, false otherwise.

bool BipedalLocomotion::IK::SO3Task::setSetPoint(const manif::SO3d& I_R_F, const manif::SO3d::Tangent& angularVelocity = manif::SO3d::Tangent::Zero())

Set the desired reference trajectory.

Parameters
I_R_F Rotation between the link and the inertial frame.
angularVelocity angular velocity written in mixed inertial frame. The default value is zero.
Returns True in case of success, false otherwise.

std::size_t BipedalLocomotion::IK::SO3Task::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::SO3Task::type() const override

The SO3Task is an equality task.

Returns the size of the task.

bool BipedalLocomotion::IK::SO3Task::isValid() const override

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

Returns True if the objects are valid, false otherwise.