Perform open-loop control task. More...
#include <task_open_loop_control.h>
Public Types | |
using | Ptr = std::shared_ptr< OpenLoopControlTask > |
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using | Ptr = std::shared_ptr< TaskInterface > |
Public Member Functions | |
void | getAvailableSignals (const Environment &environment, SignalTargetInterface &signal_target, const std::string &ns="") const override |
Retrieve available signals from the task. More... | |
TaskInterface::Ptr | getInstance () const override |
Return a newly created shared instance of the implemented class. More... | |
OpenLoopControlTask () | |
Default constructor. More... | |
void | performTask (Environment &environment, SignalTargetInterface *signal_target=nullptr, std::string *msg=nullptr, const std::string &ns="") override |
Perform task. More... | |
void | reset () override |
Reset task state. More... | |
void | setControlReference (ReferenceTrajectoryInterface::Ptr ureference) |
Set control input reference trajectory. More... | |
void | setStateReference (ReferenceTrajectoryInterface::Ptr xreference) |
Set state reference trajectory. More... | |
bool | verify (const Environment &environment, std::string *msg=nullptr) const override |
Check if the environment and other settings satisfy all requirements for the given task. More... | |
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virtual | ~TaskInterface () |
Virtuel destructor. More... | |
Private Attributes | |
double | _dt = 0.1 |
bool | _realtime_sync = false |
ReferenceTrajectoryInterface::Ptr | _ureference |
ReferenceTrajectoryInterface::Ptr | _xreference |
Perform open-loop control task.
This class performs an open-loop control task given a state and control input reference trajectory.
Definition at line 49 of file task_open_loop_control.h.
using corbo::OpenLoopControlTask::Ptr = std::shared_ptr<OpenLoopControlTask> |
Definition at line 52 of file task_open_loop_control.h.
corbo::OpenLoopControlTask::OpenLoopControlTask | ( | ) |
Default constructor.
Definition at line 34 of file task_open_loop_control.cpp.
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overridevirtual |
Retrieve available signals from the task.
Register a-priori known signals at the signal target. Registration is optional. Note, during performTask() further signals might occur without registration (in case the they are not known in advance or the implementation lacks a proper registration).
[in,out] | signal_target | Target for occuring signals [optional] |
Reimplemented from corbo::TaskInterface.
Definition at line 41 of file task_open_loop_control.cpp.
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inlineoverridevirtual |
Return a newly created shared instance of the implemented class.
Implements corbo::TaskInterface.
Definition at line 58 of file task_open_loop_control.h.
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overridevirtual |
Perform task.
[in] | environment | Standard environment (plant, controller, observer) |
[in,out] | signal_target | Target for occuring signals [optional] |
Implements corbo::TaskInterface.
Definition at line 66 of file task_open_loop_control.cpp.
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inlineoverridevirtual |
Reset task state.
Implements corbo::TaskInterface.
Definition at line 76 of file task_open_loop_control.h.
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inline |
Set control input reference trajectory.
Definition at line 67 of file task_open_loop_control.h.
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inline |
Set state reference trajectory.
Definition at line 65 of file task_open_loop_control.h.
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overridevirtual |
Check if the environment and other settings satisfy all requirements for the given task.
This function can be called in order to check if all components and models are appropriate, e.g. if all input and output dimensions are chosen adequately.
Note, Environment::verify() might be invoked in order to check if controller, plant and observer are specified correctly and if they have matching dimensions.
[in] | environment | Standard environment (plant, controller, observer) |
[out] | msg | The string contains issue messages and hints if available [optional] |
Implements corbo::TaskInterface.
Definition at line 172 of file task_open_loop_control.cpp.
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private |
Definition at line 92 of file task_open_loop_control.h.
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private |
Definition at line 93 of file task_open_loop_control.h.
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private |
Definition at line 95 of file task_open_loop_control.h.
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private |
Definition at line 94 of file task_open_loop_control.h.