OpenSim::CMC_TaskSet Class Reference

An class for holding and managing a set of tasks. More...

#include <CMC_TaskSet.h>

Inheritance diagram for OpenSim::CMC_TaskSet:

Public Member Functions
	CMC_TaskSet ()
	Construct a default task set for a specified model.
	CMC_TaskSet (const std::string &aFileName)
virtual	~CMC_TaskSet ()
	Destructor.
void	setModel (Model &aModel)
	Set the model for which the tracking is performed.
Model *	getModel () const
	Get the model for which the tracking is performed.
void	setFunctions (FunctionSet &aFuncSet)
	Set the functions for the tasks.
void	setFunctionsForVelocity (FunctionSet &aFuncSet)
	Set the velocity functions for the tasks.
void	setFunctionsForAcceleration (FunctionSet &aFuncSet)
	Set the acceleration functions for the tasks.
int	getNumActiveTaskFunctions () const
	Return number of active task functions.
Array< double > &	getTaskPositions (double aT)
	Get all active task positions.
Array< double > &	getTaskVelocities (double aT)
	Get all active task velocities.
Array< double > &	getTaskAccelerations (double aT)
	Get all active task accelerations.
Array< double > &	getPositionGains ()
	Get all active gains for position errors.
Array< double > &	getVelocityGains ()
	Get all active gains for velocity errors.
Array< double > &	getAccelerationGains ()
	Get all active gains for acceleration errors.
Array< double > &	getPositionErrorsLast ()
	Get the last position errors.
Array< double > &	getPositionErrors ()
	Get the position errors.
Array< double > &	getVelocityErrorsLast ()
	Get the last velocity errors.
Array< double > &	getVelocityErrors ()
	Get the velocity errors.
Array< double > &	getWeights ()
	Get the array of weights for the desired accelerations.
Array< double > &	getDesiredAccelerations ()
	Get the desired accelerations.
Array< double > &	getAccelerations ()
	Get the accelerations.
void	recordErrorsAsLastErrors ()
	Record the current position errors of all tasks as the last errors that were achieved during a simulation.
void	computeErrors (const SimTK::State &s, double aT)
	Compute the errors for all tasks.
void	computeDesiredAccelerations (const SimTK::State &s, double aT)
	Compute the desired acceleration(s) for each task at a specified time.
void	computeDesiredAccelerations (const SimTK::State &s, double aTCurrent, double aTFuture)
	Compute the desired acceleration(s) for each task given a time interval over which the accelerations are to be achieved.
void	computeAccelerations (const SimTK::State &s)
	Compute the acceleration(s) for each task.
Protected Attributes
Model *	_model
	Model for which the tracking is conducted.
Array< double >	_pTask
	Array of task positions.
Array< double >	_vTask
	Array of task velocities.
Array< double >	_aTask
	Array of task accelerations.
Array< double >	_pErrLast
	Array of last position errors.
Array< double >	_pErr
	Array of position errors.
Array< double >	_vErrLast
	Array of last velocity errors.
Array< double >	_vErr
	Array of velocity errors.
Array< double >	_kp
	Array of gains for the position errors.
Array< double >	_kv
	Array of gains for the velocity errors.
Array< double >	_ka
	Array of gains for the acceleration errors.
Array< double >	_w
	Array of weights of the desired acceleration.
Array< double >	_aDes
	Array of desired accelerations.
Array< double >	_a
	Array of accelerations.

Detailed Description

An class for holding and managing a set of tasks.

Author:: Frank C. Anderson

Version:: 1.0

Constructor & Destructor Documentation

CMC_TaskSet::CMC_TaskSet ( )

Construct a default task set for a specified model.

Parameters:

aModel

Model for which tasks will be set.

OpenSim::CMC_TaskSet::CMC_TaskSet ( const std::string & aFileName )

CMC_TaskSet::~CMC_TaskSet ( ) [virtual]

Destructor.

Member Function Documentation

void CMC_TaskSet::computeAccelerations ( const SimTK::State & s )

Compute the acceleration(s) for each task.

Model::computeAccelerations must be called before this method is called for the results to be valid.

void CMC_TaskSet::computeDesiredAccelerations	(	const SimTK::State &	s,
		double	aTI,
		double	aTF
	)

Compute the desired acceleration(s) for each task given a time interval over which the accelerations are to be achieved.

Currently, the algorithm is to compute the position and velocity error terms at the initial time and the acceleration term from the task set at the final time.

Parameters:

	aTI	Initial time of the time interval in real time units.
	aTF	Final time of the timer interval in real time units.

void CMC_TaskSet::computeDesiredAccelerations	(	const SimTK::State &	s,
		double	aT
	)

Compute the desired acceleration(s) for each task at a specified time.

Parameters:

aT

Time at which the desired accelerations are to be computed in real time units.

void CMC_TaskSet::computeErrors	(	const SimTK::State &	s,
		double	aT
	)

Compute the errors for all tasks.

Parameters:

aT

Time at which to compute the errors in real time units.

OpenSim::Array< double > & CMC_TaskSet::getAccelerationGains ( )

Get all active gains for acceleration errors.

Parameters:

aT

Time (in real time units).

Returns:: Array of velocity gains.

OpenSim::Array< double > & CMC_TaskSet::getAccelerations ( )

Get the accelerations.

Returns:: Array of accelerations.

OpenSim::Array< double > & CMC_TaskSet::getDesiredAccelerations ( )

Get the desired accelerations.

Returns:: Array of desired accelerations.

Model * CMC_TaskSet::getModel ( ) const

Get the model for which the tracking is performed.

Returns:: Pointer to the model.

int CMC_TaskSet::getNumActiveTaskFunctions ( ) const

Return number of active task functions.

OpenSim::Array< double > & CMC_TaskSet::getPositionErrors ( )

Get the position errors.

Returns:: Array of position errors.

OpenSim::Array< double > & CMC_TaskSet::getPositionErrorsLast ( )

Get the last position errors.

Returns:: Array of last position errors.

OpenSim::Array< double > & CMC_TaskSet::getPositionGains ( )

Get all active gains for position errors.

Parameters:

aT

Time (in real time units).

Returns:: Array of position gains.

OpenSim::Array< double > & CMC_TaskSet::getTaskAccelerations ( double aT )

Get all active task accelerations.

Parameters:

aT

Time (in real time units).

Returns:: Array of task accelerations.

OpenSim::Array< double > & CMC_TaskSet::getTaskPositions ( double aT )

Get all active task positions.

Parameters:

aT

Time (in real time units).

Returns:: Array of task positions.

OpenSim::Array< double > & CMC_TaskSet::getTaskVelocities ( double aT )

Get all active task velocities.

Parameters:

aT

Time (in real time units).

Returns:: Array of task velocities.

OpenSim::Array< double > & CMC_TaskSet::getVelocityErrors ( )

Get the velocity errors.

Returns:: Array of velocity errors.

OpenSim::Array< double > & CMC_TaskSet::getVelocityErrorsLast ( )

Get the last velocity errors.

Returns:: Array of last velocity errors.

OpenSim::Array< double > & CMC_TaskSet::getVelocityGains ( )

Get all active gains for velocity errors.

Parameters:

aT

Time (in real time units).

Returns:: Array of velocity gains.

OpenSim::Array< double > & CMC_TaskSet::getWeights ( )

Get the array of weights for the desired accelerations.

Returns:: Array of weights.

void CMC_TaskSet::recordErrorsAsLastErrors ( )

Record the current position errors of all tasks as the last errors that were achieved during a simulation.

This method assumes that the position errors have already been computed.

void CMC_TaskSet::setFunctions ( FunctionSet & aFuncSet )

Set the functions for the tasks.

Functions are set based on the correspondence of the function and the task. For example, a task with the name "x" will search for a function or functions with the name "x". For tasks that require 3 functions, such as CMC_Point tasks, the assumption is that there will be three consecutive functions named "x" in the function set. If the correct number of functions is not found, the task is disabled.

Parameters:

aFuncSet

Function set.

Returns:: Pointer to the previous function set.

void CMC_TaskSet::setFunctionsForAcceleration ( FunctionSet & aFuncSet )

Set the acceleration functions for the tasks.

Functions are set based on the correspondence of the function and the task. For example, a task with the name "x" will search for a function or functions with the name "x". For tasks that require 3 functions, such as CMC_Point tasks, the assumption is that there will be three consecutive functions named "x" in the function set. If the correct number of functions is not found, the task is disabled.

Parameters:

aFuncSet

Function set.

Returns:: Pointer to the previous function set.

void CMC_TaskSet::setFunctionsForVelocity ( FunctionSet & aFuncSet )

Set the velocity functions for the tasks.

Functions are set based on the correspondence of the function and the task. For example, a task with the name "x" will search for a function or functions with the name "x". For tasks that require 3 functions, such as CMC_Point tasks, the assumption is that there will be three consecutive functions named "x" in the function set. If the correct number of functions is not found, the task is disabled.

Parameters:

aFuncSet

Function set.