corbo::OpenLoopControlTask Class Reference

Perform open-loop control task. More...

#include <task_open_loop_control.h>

Inheritance diagram for corbo::OpenLoopControlTask:

Public Types
using	Ptr = std::shared_ptr< OpenLoopControlTask >
Public Types inherited from corbo::TaskInterface
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...
Public Member Functions inherited from corbo::TaskInterface
virtual	~TaskInterface ()
	Virtuel destructor. More...

Private Attributes
double	_dt = 0.1
bool	_realtime_sync = false
ReferenceTrajectoryInterface::Ptr	_ureference
ReferenceTrajectoryInterface::Ptr	_xreference

Detailed Description

Perform open-loop control task.

This class performs an open-loop control task given a state and control input reference trajectory.

Remarks

The underlying controller must support open-loop control!

See also

TaskInterface Environment

Author

Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 71 of file task_open_loop_control.h.

Member Typedef Documentation

Ptr

using corbo::OpenLoopControlTask::Ptr = std::shared_ptr<OpenLoopControlTask>

Definition at line 96 of file task_open_loop_control.h.

Constructor & Destructor Documentation

OpenLoopControlTask()

corbo::OpenLoopControlTask::OpenLoopControlTask

(

)

Default constructor.

Definition at line 56 of file task_open_loop_control.cpp.

Member Function Documentation

getAvailableSignals()

void corbo::OpenLoopControlTask::getAvailableSignals ( const Environment &  environment, SignalTargetInterface &  signal_target, const std::string &  ns = ""  ) const

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).

Parameters

[in,out]

signal_target

Target for occuring signals [optional]

Reimplemented from corbo::TaskInterface.

Definition at line 63 of file task_open_loop_control.cpp.

getInstance()

TaskInterface::Ptr corbo::OpenLoopControlTask::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::TaskInterface.

Definition at line 102 of file task_open_loop_control.h.

performTask()

void corbo::OpenLoopControlTask::performTask ( Environment &  environment, SignalTargetInterface *  signal_target = nullptr, std::string *  msg = nullptr, const std::string &  ns = ""  )

overridevirtual

Perform task.

Parameters

[in]	environment	Standard environment (plant, controller, observer)
[in,out]	signal_target	Target for occuring signals [optional]

Implements corbo::TaskInterface.

Definition at line 88 of file task_open_loop_control.cpp.

reset()

void corbo::OpenLoopControlTask::reset ( )

inlineoverridevirtual

Reset task state.

Implements corbo::TaskInterface.

Definition at line 120 of file task_open_loop_control.h.

setControlReference()

void corbo::OpenLoopControlTask::setControlReference ( ReferenceTrajectoryInterface::Ptr  ureference )

inline

Set control input reference trajectory.

Definition at line 111 of file task_open_loop_control.h.

setStateReference()

void corbo::OpenLoopControlTask::setStateReference ( ReferenceTrajectoryInterface::Ptr  xreference )

inline

Set state reference trajectory.

Definition at line 109 of file task_open_loop_control.h.

verify()

bool corbo::OpenLoopControlTask::verify ( const Environment &  environment, std::string *  msg = nullptr  ) const

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.

Parameters

[in]	environment	Standard environment (plant, controller, observer)
[out]	msg	The string contains issue messages and hints if available [optional]

Returns

true if verification was successfull, false otherwise.

Implements corbo::TaskInterface.

Definition at line 194 of file task_open_loop_control.cpp.

Member Data Documentation

_dt

double corbo::OpenLoopControlTask::_dt = 0.1

private

Definition at line 136 of file task_open_loop_control.h.

_realtime_sync

bool corbo::OpenLoopControlTask::_realtime_sync = false

private

Definition at line 137 of file task_open_loop_control.h.

_ureference

ReferenceTrajectoryInterface::Ptr corbo::OpenLoopControlTask::_ureference

private

Definition at line 139 of file task_open_loop_control.h.

_xreference

ReferenceTrajectoryInterface::Ptr corbo::OpenLoopControlTask::_xreference

private

Definition at line 138 of file task_open_loop_control.h.

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The documentation for this class was generated from the following files:

• task_open_loop_control.h
• task_open_loop_control.cpp