A class derived from iKinCtrl implementing the multi-referential approach. More...

#include <iKinInv.h>

Inheritance diagram for iCub::iKin::MultiRefMinJerkCtrl:

Public Member Functions
	MultiRefMinJerkCtrl (iKinChain &c, unsigned int _ctrlPose, double _Ts, bool nonIdealPlant=false)
	Constructor.

virtual yarp::sig::Vector	iterate (yarp::sig::Vector &xd, yarp::sig::Vector &qd, const unsigned int verbose=0)
	Executes one iteration of the control algorithm.

virtual yarp::sig::Vector	iterate (yarp::sig::Vector &xd, yarp::sig::Vector &qd, yarp::sig::Vector &xdot_set, const unsigned int verbose=0)
	Executes one iteration of the control algorithm.

virtual void	restart (const yarp::sig::Vector &q0)
	Reinitializes the algorithm's internal state and resets the starting point.

virtual std::string	getAlgoName ()
	Returns the algorithm's name.

double	get_guardRatio () const
	Returns the guard ratio for the joints span (0.1 by default).

double	get_gamma () const
	Returns the parameter gamma which is used to blend the contribute of the task controller versus the contribute of the joint controller.

double	get_execTime () const
	Returns the task execution time in seconds (1.0 by default).

yarp::sig::Vector	get_qdot () const
	Returns the actual derivative of joint angles.

yarp::sig::Vector	get_xdot () const
	Returns the actual derivative of End-Effector Pose (6 components; xdot=J*qdot).

void	set_guardRatio (double _guardRatio)
	Sets the guard ratio (in [0 1]).

void	set_gamma (double _gamma)
	Sets the parameter gamma which is used to blend the contribute of the task controller versus the contribute of the joint controller.

virtual void	set_q (const yarp::sig::Vector &q0)
	Sets the joint angles values.

double	set_execTime (const double _execTime, const bool warn=false)
	Sets the task execution time in seconds.

void	add_compensation (const yarp::sig::Vector &comp)
	Adds to the controller input a further compensation term.

void	setPlantParameters (const yarp::os::Property &parameters, const std::string &entryTag="dimension")
	Allows user to assign values to the parameters of plant under control (for the configuration space only).

virtual	~MultiRefMinJerkCtrl ()
	Destructor.

Public Member Functions inherited from iCub::iKin::iKinCtrl
	iKinCtrl (iKinChain &c, unsigned int _ctrlPose)
	Constructor.

virtual void	setChainConstraints (bool _constrained)
	Enables/Disables joint angles constraints.

void	switchWatchDog (bool sw)
	Switch on/off the watchDog mechanism to trigger deadLocks.

virtual void	setInTargetTol (double tol_x)
	Sets tolerance for in-target check (5e-3 by default).

virtual double	getInTargetTol () const
	Returns tolerance for in-target check.

virtual void	setWatchDogTol (double tol_q)
	Sets tolerance for watchDog check (1e-4 by default).

virtual double	getWatchDogTol () const
	Returns tolerance for watchDog check.

virtual void	setWatchDogMaxIter (int maxIter)
	Sets maximum number of iterations to trigger the watchDog (200 by default).

virtual int	getWatchDogMaxIter () const
	Returns maximum number of iterations to trigger the watchDog.

virtual bool	isInTarget ()
	Checks if the End-Effector is in target.

int	get_state () const
	Returns the algorithm's state.

void	set_ctrlPose (unsigned int _ctrlPose)
	Sets the state of Pose control settings.

unsigned int	get_ctrlPose () const
	Returns the state of Pose control settings.

unsigned int	get_dim () const
	Returns the number of Chain DOF.

unsigned int	get_iter () const
	Returns the number of performed iterations.

virtual yarp::sig::Vector	get_x () const
	Returns the actual cartesian position of the End-Effector.

virtual yarp::sig::Vector	get_e () const
	Returns the actual cartesian position error.

virtual yarp::sig::Vector	get_q () const
	Returns the actual joint angles values.

virtual yarp::sig::Vector	get_grad () const
	Returns the actual gradient.

virtual yarp::sig::Matrix	get_J () const
	Returns the actual Jacobian used in computation.

virtual double	dist () const
	Returns the actual distance from the target in cartesian space (euclidean norm is used).

virtual	~iKinCtrl ()
	Default destructor.

Protected Member Functions
virtual void	computeGuard ()

virtual void	computeWeight ()

virtual yarp::sig::Vector	iterate (yarp::sig::Vector &xd, yarp::sig::Vector &qd, yarp::sig::Vector *xdot_set, const unsigned int verbose)

virtual void	inTargetFcn ()
	Method called whenever in target.

virtual void	deadLockRecoveryFcn ()
	Method called whenever the watchDog is triggered.

virtual void	printIter (const unsigned int verbose)
	Dumps warning or status messages.

virtual bool	test_convergence (const double)
	Tests convergence by comparing the size of the algorithm internal structure (may be the gradient norm or the simplex size or whatever) to a certain tolerance.

virtual yarp::sig::Vector	iterate (yarp::sig::Vector &, const unsigned int)
	Executes one iteration of the control algorithm.

virtual yarp::sig::Vector	solve (yarp::sig::Vector &, const double, const int, const unsigned int, int , bool )
	Iterates the control algorithm trying to converge on the target.

Protected Member Functions inherited from iCub::iKin::iKinCtrl
virtual yarp::sig::Vector	calc_e ()
	Computes the error according to the current controller settings (complete pose/translational/rotational part).

virtual void	update_state ()
	Updates the control state.

virtual void	watchDog ()
	Handles the watchDog.

virtual yarp::sig::Vector	checkVelocity (const yarp::sig::Vector &_qdot, double _Ts)
	Checks each joint velocity and sets it to zero if it steers the joint out of range.

unsigned int	printHandling (const unsigned int verbose=0)
	Method to be called within the printIter routine inherited by children in order to handle the highest word of verbose integer.

Protected Attributes
ctrl::minJerkVelCtrl *	mjCtrlJoint

ctrl::minJerkVelCtrl *	mjCtrlTask

ctrl::Integrator *	I

yarp::sig::Vector	q_set

yarp::sig::Vector	qdot

yarp::sig::Vector	xdot

yarp::sig::Matrix	W

yarp::sig::Matrix	Eye6

double	Ts

double	execTime

double	gamma

double	guardRatio

yarp::sig::Vector	qGuard

yarp::sig::Vector	qGuardMinInt

yarp::sig::Vector	qGuardMinExt

yarp::sig::Vector	qGuardMinCOG

yarp::sig::Vector	qGuardMaxInt

yarp::sig::Vector	qGuardMaxExt

yarp::sig::Vector	qGuardMaxCOG

yarp::sig::Vector	compensation

Protected Attributes inherited from iCub::iKin::iKinCtrl
iKinChain &	chain

unsigned int	ctrlPose

yarp::sig::Vector	x_set

yarp::sig::Vector	x

yarp::sig::Vector	e

yarp::sig::Vector	q

yarp::sig::Matrix	J

yarp::sig::Matrix	Jt

yarp::sig::Matrix	pinvJ

yarp::sig::Vector	grad

yarp::sig::Vector	q_old

double	inTargetTol

double	watchDogTol

unsigned int	dim

unsigned int	iter

int	state

bool	watchDogOn

int	watchDogCnt

int	watchDogMaxIter

Detailed Description

A class derived from iKinCtrl implementing the multi-referential approach.

Note: Minimum-Jerk controllers in Task Space and Joint Space

Definition at line 758 of file iKinInv.h.

Constructor & Destructor Documentation

◆ MultiRefMinJerkCtrl()

MultiRefMinJerkCtrl::MultiRefMinJerkCtrl	(	iKinChain &	c,
		unsigned int	_ctrlPose,
		double	_Ts,
		bool	nonIdealPlant = `false`
	)

Constructor.

Parameters

c	is the Chain object on which the control operates. Do not change Chain DOF from this point onwards!!
_ctrlPose	one of the following: IKINCTRL_POSE_FULL => complete pose control. IKINCTRL_POSE_XYZ => translational part of pose controlled. IKINCTRL_POSE_ANG => rotational part of pose controlled.
_Ts	is the nominal controller sample time.
nonIdealPlant	if true allocate a dedicated min-jerk controller for the configuration space capable of compansating plants that differ from pure integrators.

Definition at line 725 of file iKinInv.cpp.

◆ ~MultiRefMinJerkCtrl()

MultiRefMinJerkCtrl::~MultiRefMinJerkCtrl ( )

virtual

Destructor.

Definition at line 984 of file iKinInv.cpp.

Member Function Documentation

◆ add_compensation()

void MultiRefMinJerkCtrl::add_compensation ( const yarp::sig::Vector & comp )

Adds to the controller input a further compensation term.

Parameters

comp	the compensation term.

Note: The compensation term holds for one iteration step, then it is automatically set to zero for safety reasons.

Definition at line 956 of file iKinInv.cpp.

◆ computeGuard()

void MultiRefMinJerkCtrl::computeGuard ( )

protectedvirtual

Definition at line 779 of file iKinInv.cpp.

◆ computeWeight()

void MultiRefMinJerkCtrl::computeWeight ( )

protectedvirtual

Definition at line 797 of file iKinInv.cpp.

◆ deadLockRecoveryFcn()

virtual void iCub::iKin::MultiRefMinJerkCtrl::deadLockRecoveryFcn ( )

inlineprotectedvirtual

Method called whenever the watchDog is triggered.

Put here the code to recover from deadLock. Shall be implemented.

Implements iCub::iKin::iKinCtrl.

Definition at line 796 of file iKinInv.h.

◆ get_execTime()

double iCub::iKin::MultiRefMinJerkCtrl::get_execTime ( ) const

inline

Returns the task execution time in seconds (1.0 by default).

Returns: task execution time.

Definition at line 906 of file iKinInv.h.

◆ get_gamma()

double iCub::iKin::MultiRefMinJerkCtrl::get_gamma ( ) const

inline

Returns the parameter gamma which is used to blend the contribute of the task controller versus the contribute of the joint controller.

Returns: gamma.

Definition at line 900 of file iKinInv.h.

◆ get_guardRatio()

double iCub::iKin::MultiRefMinJerkCtrl::get_guardRatio ( ) const

inline

Returns the guard ratio for the joints span (0.1 by default).

Note: The weights W_theta^-1 are non-zero only within the range [ q_min+0.5*guardRatio*D, q_max-0.5*guardRatio*D ] for each join, where D=q_max-q_min.

Returns: guard ratio.

Definition at line 892 of file iKinInv.h.

◆ get_qdot()

yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::get_qdot ( ) const

inline

Returns the actual derivative of joint angles.

Returns: the actual derivative of joint angles.

Definition at line 912 of file iKinInv.h.

◆ get_xdot()

yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::get_xdot ( ) const

inline

Returns the actual derivative of End-Effector Pose (6 components; xdot=J*qdot).

Returns: the actual derivative of End-Effector Pose.

Definition at line 919 of file iKinInv.h.

◆ getAlgoName()

virtual std::string iCub::iKin::MultiRefMinJerkCtrl::getAlgoName ( )

inlinevirtual

Returns the algorithm's name.

Returns: algorithm name as string. Shall be implemented.

Implements iCub::iKin::iKinCtrl.

Definition at line 883 of file iKinInv.h.

◆ inTargetFcn()

virtual void iCub::iKin::MultiRefMinJerkCtrl::inTargetFcn ( )

inlineprotectedvirtual

Method called whenever in target.

Shall be implemented.

Implements iCub::iKin::iKinCtrl.

Definition at line 795 of file iKinInv.h.

◆ iterate() [1/4]

virtual yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::iterate	(	yarp::sig::Vector &	xd,
		const unsigned int	verbose
	)

inlineprotectedvirtual

Executes one iteration of the control algorithm.

Parameters

xd is the End-Effector target Pose to be tracked.

verbose is a integer whose 32 bits are intended as follows. The lowest word (16 bits) progressively enables different levels of warning messages or status dump: the larger this value the more detailed is the output (0x####0000=>off by default). The highest word indicates how many successive calls to the dump shall be skipped in order to reduce the amount of information on the screen (ex: 0x0000####=>print all iterations, 0x0001####=>print one iteration and skip the next one, 0x0002####=> print one iteration and skip the next two).

Returns: current estimation of joints configuration. Shall be implemented.

Implements iCub::iKin::iKinCtrl.

Definition at line 801 of file iKinInv.h.

◆ iterate() [2/4]

virtual yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::iterate	(	yarp::sig::Vector &	xd,
		yarp::sig::Vector &	qd,
		const unsigned int	verbose = `0`
	)

virtual

Executes one iteration of the control algorithm.

Parameters

xd	is the End-Effector target Pose to be tracked.
qd	is the target joint angles (it shall satisfy the forward kinematic function xd=f(qd)).
verbose	is a integer whose 32 bits are intended as follows. The lowest word (16 bits) progressively enables different levels of warning messages or status dump: the larger this value the more detailed is the output (0x####0000=>off by default). The highest word indicates how many successive calls to the dump shall be skipped in order to reduce the amount of information on the screen (ex: 0x0000####=>print all iterations, 0x0001####=>print one iteration and skip the next one, 0x0002####=> print one iteration and skip the next two).

Returns: current estimation of joints configuration.

Note: The reason why qd is provided externally instead of computed here is to discouple the inverse kinematic problem (which may require some computational effort depending on the current pose xd) from the reaching issue.

◆ iterate() [3/4]

virtual yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::iterate	(	yarp::sig::Vector &	xd,
		yarp::sig::Vector &	qd,
		yarp::sig::Vector &	xdot_set,
		const unsigned int	verbose = `0`
	)

virtual

Executes one iteration of the control algorithm.

Parameters

xd	is the End-Effector target Pose to be tracked.
qd	is the target joint angles (it shall satisfy the forward kinematic function xd=f(qd)).
xdot_set	is the Task Space reference velocity; the vector size is 7 (due to the axis-angle notation) and units are [rad/s].
verbose	is a integer whose 32 bits are intended as follows. The lowest word (16 bits) progressively enables different levels of warning messages or status dump: the larger this value the more detailed is the output (0x####0000=>off by default). The highest word indicates how many successive calls to the dump shall be skipped in order to reduce the amount of information on the screen (ex: 0x0000####=>print all iterations, 0x0001####=>print one iteration and skip the next one, 0x0002####=> print one iteration and skip the next two).

Returns: current estimation of joints configuration.

Note: The reason why qd is provided externally instead of computed here is to discouple the inverse kinematic problem (which may require some computational effort depending on the current pose xd) from the reaching issue.

◆ iterate() [4/4]

virtual yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::iterate	(	yarp::sig::Vector &	xd,
		yarp::sig::Vector &	qd,
		yarp::sig::Vector *	xdot_set,
		const unsigned int	verbose
	)

protectedvirtual

◆ printIter()

void MultiRefMinJerkCtrl::printIter ( const unsigned int verbose )

protectedvirtual

Dumps warning or status messages.

Parameters

verbose is a integer whose 32 bits are intended as follows. The lowest word (16 bits) progressively enables different levels of warning messages or status dump: the larger this value the more detailed is the output (0x####0000=>off by default). The highest word indicates how many successive calls to the dump shall be skipped in order to reduce the amount of information on the screen (ex: 0x0000####=>print all iterations, 0x0001####=>print one iteration and skip the next one, 0x0002####=> print one iteration and skip the next two).

Note: Angles are dumperd as degrees. Shall be implemented.

Implements iCub::iKin::iKinCtrl.

Definition at line 898 of file iKinInv.cpp.

◆ restart()

void MultiRefMinJerkCtrl::restart ( const yarp::sig::Vector & q0 )

virtual

Reinitializes the algorithm's internal state and resets the starting point.

Parameters

q0	is the new starting point.

Reimplemented from iCub::iKin::iKinCtrl.

Definition at line 885 of file iKinInv.cpp.

◆ set_execTime()

double MultiRefMinJerkCtrl::set_execTime	(	const double	_execTime,
		const bool	warn = `false`
	)

Sets the task execution time in seconds.

Parameters

_execTime.
warn	enable/disable warning message for thresholding (disabled by default).

Returns: the actual execTime.

Note: A lower bound equal to 10*Ts (Ts=controller's sample time) is imposed.

Definition at line 942 of file iKinInv.cpp.

◆ set_gamma()

void iCub::iKin::MultiRefMinJerkCtrl::set_gamma ( double _gamma )

inline

Sets the parameter gamma which is used to blend the contribute of the task controller versus the contribute of the joint controller.

Parameters

_gamma.

Definition at line 933 of file iKinInv.h.

◆ set_guardRatio()

void MultiRefMinJerkCtrl::set_guardRatio ( double _guardRatio )

Sets the guard ratio (in [0 1]).

Parameters

_guardRatio.

Definition at line 770 of file iKinInv.cpp.

◆ set_q()

void MultiRefMinJerkCtrl::set_q ( const yarp::sig::Vector & q0 )

virtual

Sets the joint angles values.

Parameters

q0	is the joint angles vector.

Reimplemented from iCub::iKin::iKinCtrl.

Definition at line 934 of file iKinInv.cpp.

◆ setPlantParameters()

void MultiRefMinJerkCtrl::setPlantParameters	(	const yarp::os::Property &	parameters,
		const std::string &	entryTag = `"dimension"`
	)

Allows user to assign values to the parameters of plant under control (for the configuration space only).

In case the controlled plant is not a pure integrator, then it can be modelled as the following transfer function: (Kp/s)*((1+Tz*s)/(1+2*Zeta*Tw*s+(Tw*s)^2))

Parameters

parameters contains the set of plant parameters for each dimension in form of a Property object.

Available parameters are:

dimension_# < list>: example (dimension_2 ((Kp 1.0) (Tw 0.1) ...)), specifies the Kp, Tz, Tw and Zeta parameters for a given dimension of the plant ("dimension_2" in the example). Dimensions are 0-based numbers.

Parameters

entryTag specifies an entry tag different from "dimension".

Definition at line 965 of file iKinInv.cpp.

◆ solve()

virtual yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::solve	(	yarp::sig::Vector &	xd,
		const double	tol_size,
		const int	max_iter,
		const unsigned int	verbose,
		int *	exit_code,
		bool *	exhalt
	)

inlineprotectedvirtual

Iterates the control algorithm trying to converge on the target.

Parameters

xd	is the End-Effector target Pose to be tracked.
tol_size	exits if test_convergence(tol_size) is true (tol_size<0 disables this check, default).
max_iter	exits if iter>=max_iter (max_iter<0 disables this check, default).
verbose	is a integer whose 32 bits are intended as follows. The lowest word (16 bits) progressively enables different levels of warning messages or status dump: the larger this value the more detailed is the output (0x####0000=>off by default). The highest word indicates how many successive calls to the dump shall be skipped in order to reduce the amount of information on the screen (ex: 0x0000####=>print all iterations, 0x0001####=>print one iteration and skip the next one, 0x0002####=> print one iteration and skip the next two).
exit_code	stores the exit code (NULL by default). Test for one of this: IKINCTRL_RET_TOLX IKINCTRL_RET_TOLSIZE IKINCTRL_RET_TOLQ IKINCTRL_RET_MAXITER IKINCTRL_RET_EXHALT
exhalt	checks for an external request to exit (NULL by default).

See also: setInTargetTol; getInTargetTol

Reimplemented from iCub::iKin::iKinCtrl.

Definition at line 802 of file iKinInv.h.

◆ test_convergence()

virtual bool iCub::iKin::MultiRefMinJerkCtrl::test_convergence ( const double tol_size )

inlineprotectedvirtual

Tests convergence by comparing the size of the algorithm internal structure (may be the gradient norm or the simplex size or whatever) to a certain tolerance.

Parameters

tol_size is tolerance to compare to. Shall be implemented.

Implements iCub::iKin::iKinCtrl.

Definition at line 800 of file iKinInv.h.

Member Data Documentation

◆ compensation

yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::compensation

protected

Definition at line 788 of file iKinInv.h.

◆ execTime

double iCub::iKin::MultiRefMinJerkCtrl::execTime

protected

Definition at line 780 of file iKinInv.h.

◆ Eye6

yarp::sig::Matrix iCub::iKin::MultiRefMinJerkCtrl::Eye6

protected

Definition at line 777 of file iKinInv.h.

◆ gamma

double iCub::iKin::MultiRefMinJerkCtrl::gamma

protected

Definition at line 781 of file iKinInv.h.

◆ guardRatio

double iCub::iKin::MultiRefMinJerkCtrl::guardRatio

protected

Definition at line 782 of file iKinInv.h.

◆ I

ctrl::Integrator* iCub::iKin::MultiRefMinJerkCtrl::I

protected

Definition at line 771 of file iKinInv.h.

◆ mjCtrlJoint

ctrl::minJerkVelCtrl* iCub::iKin::MultiRefMinJerkCtrl::mjCtrlJoint

protected

Definition at line 769 of file iKinInv.h.

◆ mjCtrlTask

ctrl::minJerkVelCtrl* iCub::iKin::MultiRefMinJerkCtrl::mjCtrlTask

protected

Definition at line 770 of file iKinInv.h.

◆ q_set

yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::q_set

protected

Definition at line 773 of file iKinInv.h.

◆ qdot

yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qdot

protected

Definition at line 774 of file iKinInv.h.

◆ qGuard

yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuard

protected

Definition at line 784 of file iKinInv.h.

◆ qGuardMaxCOG

yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuardMaxCOG

protected

Definition at line 786 of file iKinInv.h.

◆ qGuardMaxExt

yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuardMaxExt

protected

Definition at line 786 of file iKinInv.h.

◆ qGuardMaxInt

yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuardMaxInt

protected

Definition at line 786 of file iKinInv.h.

◆ qGuardMinCOG

yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuardMinCOG

protected

Definition at line 785 of file iKinInv.h.

◆ qGuardMinExt

yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuardMinExt

protected

Definition at line 785 of file iKinInv.h.

◆ qGuardMinInt

yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuardMinInt

protected

Definition at line 785 of file iKinInv.h.

◆ Ts

double iCub::iKin::MultiRefMinJerkCtrl::Ts

protected

Definition at line 779 of file iKinInv.h.

◆ W

yarp::sig::Matrix iCub::iKin::MultiRefMinJerkCtrl::W

protected

Definition at line 776 of file iKinInv.h.

◆ xdot

yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::xdot

protected

Definition at line 775 of file iKinInv.h.

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

icub-main/src/libraries/iKin/include/iCub/iKin/iKinInv.h
icub-main/src/libraries/iKin/src/iKinInv.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MultiRefMinJerkCtrl()

◆ ~MultiRefMinJerkCtrl()

Member Function Documentation

◆ add_compensation()

◆ computeGuard()

◆ computeWeight()

◆ deadLockRecoveryFcn()

◆ get_execTime()

◆ get_gamma()

◆ get_guardRatio()

◆ get_qdot()

◆ get_xdot()

◆ getAlgoName()

◆ inTargetFcn()

◆ iterate() [1/4]

◆ iterate() [2/4]

◆ iterate() [3/4]

◆ iterate() [4/4]

◆ printIter()

◆ restart()

◆ set_execTime()

◆ set_gamma()

◆ set_guardRatio()

◆ set_q()

◆ setPlantParameters()

◆ solve()

◆ test_convergence()

Member Data Documentation

◆ compensation

◆ execTime

◆ Eye6

◆ gamma

◆ guardRatio

◆ I

◆ mjCtrlJoint

◆ mjCtrlTask

◆ q_set

◆ qdot

◆ qGuard

◆ qGuardMaxCOG

◆ qGuardMaxExt

◆ qGuardMaxInt

◆ qGuardMinCOG

◆ qGuardMinExt

◆ qGuardMinInt

◆ Ts

◆ W

◆ xdot