BipedalLocomotion::TSID::SE3Task class
#include <BipedalLocomotion/TSID/SE3Task.h>

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 that contains the base linear and angular acceleration expressed in mixed representation and the joints acceleration. The task represents the following equation

where is the robot jacobian and is the desired acceleration. The desired acceleration is chosen such that the frame will asymptotically converge to the desired trajectory. The linear component of is computed with a standard PD controller in while the angular acceleration is computed by a PD controller in .

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 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::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.

Note

the following parameters are required by the class

Parameter Name	Type	Description	Mandatory
`robot_acceleration_variable_name`	`string`	Name of the variable contained in `VariablesHandler` describing the robot acceleration	Yes
`frame_name`	`string`	Name of the frame controlled by the SE3Task	Yes
`kp_linear`	`double` or `vector<double>`	Gains of the position controller	Yes
`kd_linear`	`double` or `vector<double>`	Gains of the linear velocity controller	Yes
`kp_angular`	`double` or `vector<double>`	Gain of the orientation controller	Yes
`kd_angular`	`double` or `vector<double>`	Gain of the angular velocity controller	Yes
`mask`	`vector<bool>`	Mask representing the linear DoFs controlled. E.g. [1,0,1] will enable the control on the x and z coordinates only and the angular part. (Default value, [1,1,1])	No

bool BipedalLocomotion::TSID::SE3Task::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::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.