Refactored names of task definitions and dynamics to unify naming con…

…vention

hiqp_core/CMakeLists.txt

@@ -52,16 +52,18 @@ add_library(${PROJECT_NAME} src/utilities.cpp
                             src/geometric_primitives/geometric_primitive_map.cpp
 
                             src/solvers/gurobi_solver.cpp
-                            src/tasks/dynamics_first_order.cpp
-                            src/tasks/dynamics_first_order_cubic.cpp
-                            src/tasks/dynamics_jnt_limits.cpp
-                            src/tasks/dynamics_minimal_jerk.cpp
-                            src/tasks/dynamics_hyper_sin.cpp
-                            src/tasks/task_full_pose.cpp
-                            src/tasks/task_geometric_projection.cpp
-                            src/tasks/task_geometric_alignment.cpp
-                            src/tasks/task_jnt_config.cpp
-                            src/tasks/task_jnt_limits.cpp
+
+                            src/tasks/tdyn_linear.cpp
+                            src/tasks/tdyn_cubic.cpp
+                            src/tasks/tdyn_hyper_sin.cpp
+                            src/tasks/tdyn_jnt_limits.cpp
+                            src/tasks/tdyn_minimal_jerk.cpp
+
+                            src/tasks/tdef_full_pose.cpp
+                            src/tasks/tdef_geometric_alignment.cpp
+                            src/tasks/tdef_geometric_projection.cpp
+                            src/tasks/tdef_jnt_config.cpp
+                            src/tasks/tdef_jnt_limits.cpp
 )
 
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} 

hiqp_core/include/hiqp/tasks/task_full_pose.h → hiqp_core/include/hiqp/tasks/tdef_full_pose.h

@@ -14,8 +14,8 @@
 // You should have received a copy of the GNU General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef HIQP_TASK_FULL_POSE_H
-#define HIQP_TASK_FULL_POSE_H
+#ifndef HIQP_TDEF_FULL_POSE_H
+#define HIQP_TDEF_FULL_POSE_H
 
 #include <string>
 
@@ -29,15 +29,13 @@ namespace tasks
 
   /*! \brief Represents a task definition that sets a specific joint configuration. This task definition does not leave any redundancy available to other tasks!
    *  \author Marcus A Johansson */ 
-  class TaskFullPose : public TaskDefinition
-  {
+  class TDefFullPose : public TaskDefinition {
   public:
-
-    TaskFullPose(std::shared_ptr<GeometricPrimitiveMap> geom_prim_map,
+    TDefFullPose(std::shared_ptr<GeometricPrimitiveMap> geom_prim_map,
                  std::shared_ptr<Visualizer> visualizer)
      : TaskDefinition(geom_prim_map, visualizer) {}
 
-    ~TaskFullPose() noexcept {}
+    ~TDefFullPose() noexcept {}
 
     int init(const std::vector<std::string>& parameters,
              RobotStatePtr robot_state);
@@ -47,10 +45,10 @@ namespace tasks
     int monitor();
 
   private:
-    TaskFullPose(const TaskFullPose& other) = delete;
-    TaskFullPose(TaskFullPose&& other) = delete;
-    TaskFullPose& operator=(const TaskFullPose& other) = delete;
-    TaskFullPose& operator=(TaskFullPose&& other) noexcept = delete;
+    TDefFullPose(const TDefFullPose& other) = delete;
+    TDefFullPose(TDefFullPose&& other) = delete;
+    TDefFullPose& operator=(const TDefFullPose& other) = delete;
+    TDefFullPose& operator=(TDefFullPose&& other) noexcept = delete;
 
     std::vector<double>                desired_configuration_;
   };

hiqp_core/include/hiqp/tasks/task_geometric_alignment.h → hiqp_core/include/hiqp/tasks/tdef_geometric_alignment.h

@@ -14,8 +14,8 @@
 // You should have received a copy of the GNU General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef HIQP_TASK_GEOMETRIC_ALIGNMENT_H
-#define HIQP_TASK_GEOMETRIC_ALIGNMENT_H
+#ifndef HIQP_TDEF_GEOMETRIC_ALIGNMENT_H
+#define HIQP_TDEF_GEOMETRIC_ALIGNMENT_H
 
 #include <string>
 #include <vector>
@@ -34,11 +34,11 @@ namespace tasks
   /*! \brief A task definition that rotates primitives to align with each other.
    *  \author Marcus A Johansson */  
   template<typename PrimitiveA, typename PrimitiveB>
-  class TaskGeometricAlignment : public TaskDefinition {
+  class TDefGeometricAlignment : public TaskDefinition {
   public:
-    TaskGeometricAlignment(std::shared_ptr<GeometricPrimitiveMap> geom_prim_map,
+    TDefGeometricAlignment(std::shared_ptr<GeometricPrimitiveMap> geom_prim_map,
                            std::shared_ptr<Visualizer> visualizer);
-    ~TaskGeometricAlignment() noexcept = default;
+    ~TDefGeometricAlignment() noexcept = default;
 
     int init(const std::vector<std::string>& parameters,
              RobotStatePtr robot_state);
@@ -48,10 +48,10 @@ namespace tasks
     int monitor();
 
   private:
-    TaskGeometricAlignment(const TaskGeometricAlignment& other) = delete;
-    TaskGeometricAlignment(TaskGeometricAlignment&& other) = delete;
-    TaskGeometricAlignment& operator=(const TaskGeometricAlignment& other) = delete;
-    TaskGeometricAlignment& operator=(TaskGeometricAlignment&& other) noexcept = delete;
+    TDefGeometricAlignment(const TDefGeometricAlignment& other) = delete;
+    TDefGeometricAlignment(TDefGeometricAlignment&& other) = delete;
+    TDefGeometricAlignment& operator=(const TDefGeometricAlignment& other) = delete;
+    TDefGeometricAlignment& operator=(TDefGeometricAlignment&& other) noexcept = delete;
 
     int align(std::shared_ptr<PrimitiveA> first, std::shared_ptr<PrimitiveB> second);
     int alignVectors(const KDL::Vector& v1, const KDL::Vector v2);
@@ -78,6 +78,6 @@ namespace tasks
 
 } // namespace hiqp
 
-#include <hiqp/tasks/task_geometric_alignment__impl.h>
+#include <hiqp/tasks/tdef_geometric_alignment__impl.h>
 
 #endif // include guard

hiqp_core/include/hiqp/tasks/task_geometric_alignment__impl.h → hiqp_core/include/hiqp/tasks/tdef_geometric_alignment__impl.h

@@ -14,8 +14,8 @@
 // You should have received a copy of the GNU General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef HIQP_TASK_GEOMETRIC_ALIGNMENT__IMPL_H
-#define HIQP_TASK_GEOMETRIC_ALIGNMENT__IMPL_H
+#ifndef HIQP_TDEF_GEOMETRIC_ALIGNMENT__IMPL_H
+#define HIQP_TDEF_GEOMETRIC_ALIGNMENT__IMPL_H
 
 #include <sstream>
 #include <iterator>
@@ -28,13 +28,13 @@ namespace tasks
 {
 
   template<typename PrimitiveA, typename PrimitiveB>
-  TaskGeometricAlignment<PrimitiveA, PrimitiveB>::TaskGeometricAlignment(
+  TDefGeometricAlignment<PrimitiveA, PrimitiveB>::TDefGeometricAlignment(
     std::shared_ptr<GeometricPrimitiveMap> geom_prim_map,
     std::shared_ptr<Visualizer> visualizer)
   : TaskDefinition(geom_prim_map, visualizer) {}
 
   template<typename PrimitiveA, typename PrimitiveB>
-  int TaskGeometricAlignment<PrimitiveA, PrimitiveB>::init(const std::vector<std::string>& parameters,
+  int TDefGeometricAlignment<PrimitiveA, PrimitiveB>::init(const std::vector<std::string>& parameters,
                                                            RobotStatePtr robot_state) {
     int parameters_size = parameters.size();
     if (parameters_size != 5) {
@@ -94,12 +94,12 @@ namespace tasks
   }
 
   template<typename PrimitiveA, typename PrimitiveB>
-  int TaskGeometricAlignment<PrimitiveA, PrimitiveB>::update(RobotStatePtr robot_state) {
+  int TDefGeometricAlignment<PrimitiveA, PrimitiveB>::update(RobotStatePtr robot_state) {
     int retval = 0;
 
     retval = fk_solver_pos_->JntToCart(robot_state->kdl_jnt_array_vel_.q, pose_a_, primitive_a_->getFrameId());
     if (retval != 0) {
-      std::cerr << "In TaskGeometricAlignment::apply : Can't solve position "
+      std::cerr << "In TDefGeometricAlignment::apply : Can't solve position "
         << "of link '" << primitive_a_->getFrameId() << "'" << " in the "
         << "KDL tree! KDL::TreeFkSolverPos_recursive::JntToCart return "
         << "error code '" << retval << "'\n";
@@ -108,7 +108,7 @@ namespace tasks
 
     retval = fk_solver_pos_->JntToCart(robot_state->kdl_jnt_array_vel_.q, pose_b_, primitive_b_->getFrameId());
     if (retval != 0) {
-      std::cerr << "In TaskGeometricAlignment::apply : Can't solve position "
+      std::cerr << "In TDefGeometricAlignment::apply : Can't solve position "
         << "of link '" << primitive_b_->getFrameId() << "'" << " in the "
         << "KDL tree! KDL::TreeFkSolverPos_recursive::JntToCart return "
         << "error code '" << retval << "'\n";
@@ -118,7 +118,7 @@ namespace tasks
     jacobian_a_.resize(robot_state->kdl_jnt_array_vel_.q.rows());
     retval = fk_solver_jac_->JntToJac(robot_state->kdl_jnt_array_vel_.q, jacobian_a_, primitive_a_->getFrameId());
     if (retval != 0) {
-      std::cerr << "In TaskGeometricAlignment::apply : Can't solve jacobian "
+      std::cerr << "In TDefGeometricAlignment::apply : Can't solve jacobian "
         << "of link '" << primitive_a_->getFrameId() << "'" << " in the "
         << "KDL tree! KDL::TreeJntToJacSolver return error code "
         << "'" << retval << "'\n";
@@ -128,7 +128,7 @@ namespace tasks
     jacobian_b_.resize(robot_state->kdl_jnt_array_vel_.q.rows());
     retval = fk_solver_jac_->JntToJac(robot_state->kdl_jnt_array_vel_.q, jacobian_b_, primitive_b_->getFrameId());
     if (retval != 0) {
-      std::cerr << "In TaskGeometricAlignment::apply : Can't solve jacobian "
+      std::cerr << "In TDefGeometricAlignment::apply : Can't solve jacobian "
         << "of link '" << primitive_b_->getFrameId() << "'" << " in the "
         << "KDL tree! KDL::TreeJntToJacSolver return error code "
         << "'" << retval << "'\n";
@@ -141,20 +141,20 @@ namespace tasks
   }
 
   template<typename PrimitiveA, typename PrimitiveB>
-  int TaskGeometricAlignment<PrimitiveA, PrimitiveB>::monitor() {
+  int TDefGeometricAlignment<PrimitiveA, PrimitiveB>::monitor() {
     return 0;
   }
 
   template<typename PrimitiveA, typename PrimitiveB>
-  void TaskGeometricAlignment<PrimitiveA, PrimitiveB>::maskJacobian(RobotStatePtr robot_state) {
+  void TDefGeometricAlignment<PrimitiveA, PrimitiveB>::maskJacobian(RobotStatePtr robot_state) {
     for (unsigned int c=0; c<robot_state->getNumJoints(); ++c) {
       if (!robot_state->isQNrWritable(c))
         J_.col(c).setZero();
     }
   }
 
   template<typename PrimitiveA, typename PrimitiveB>
-  int TaskGeometricAlignment<PrimitiveA, PrimitiveB>::alignVectors
+  int TDefGeometricAlignment<PrimitiveA, PrimitiveB>::alignVectors
   (
     const KDL::Vector& v1, 
     const KDL::Vector v2

hiqp_core/include/hiqp/tasks/task_geometric_projection.h → hiqp_core/include/hiqp/tasks/tdef_geometric_projection.h

@@ -14,8 +14,8 @@
 // You should have received a copy of the GNU General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef HIQP_TASK_GEOMETRIC_PROJECTION_H
-#define HIQP_TASK_GEOMETRIC_PROJECTION_H
+#ifndef HIQP_TDEF_GEOMETRIC_PROJECTION_H
+#define HIQP_TDEF_GEOMETRIC_PROJECTION_H
 
 #include <string>
 #include <vector>
@@ -34,11 +34,11 @@ namespace tasks
   /*! \brief A task definition that positions geometric primitives relative to each other through mutual geometric projection.
    *  \author Marcus A Johansson */  
   template<typename PrimitiveA, typename PrimitiveB>
-  class TaskGeometricProjection : public TaskDefinition {
+  class TDefGeometricProjection : public TaskDefinition {
   public:
-    TaskGeometricProjection(std::shared_ptr<GeometricPrimitiveMap> geom_prim_map,
+    TDefGeometricProjection(std::shared_ptr<GeometricPrimitiveMap> geom_prim_map,
                             std::shared_ptr<Visualizer> visualizer);
-    ~TaskGeometricProjection() noexcept = default;
+    ~TDefGeometricProjection() noexcept = default;
 
     int init(const std::vector<std::string>& parameters,
              RobotStatePtr robot_state);
@@ -48,10 +48,10 @@ namespace tasks
     int monitor();
 
   private:
-    TaskGeometricProjection(const TaskGeometricProjection& other) = delete;
-    TaskGeometricProjection(TaskGeometricProjection&& other) = delete;
-    TaskGeometricProjection& operator=(const TaskGeometricProjection& other) = delete;
-    TaskGeometricProjection& operator=(TaskGeometricProjection&& other) noexcept = delete;
+    TDefGeometricProjection(const TDefGeometricProjection& other) = delete;
+    TDefGeometricProjection(TDefGeometricProjection&& other) = delete;
+    TDefGeometricProjection& operator=(const TDefGeometricProjection& other) = delete;
+    TDefGeometricProjection& operator=(TDefGeometricProjection&& other) noexcept = delete;
 
     int project(std::shared_ptr<PrimitiveA> first, std::shared_ptr<PrimitiveB> second);
 
@@ -85,6 +85,6 @@ namespace tasks
 
 } // namespace hiqp
 
-#include <hiqp/tasks/task_geometric_projection__impl.h>
+#include <hiqp/tasks/tdef_geometric_projection__impl.h>
 
 #endif // include guard

hiqp_core/include/hiqp/tasks/task_geometric_projection__impl.h → hiqp_core/include/hiqp/tasks/tdef_geometric_projection__impl.h

@@ -14,8 +14,8 @@
 // You should have received a copy of the GNU General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef HIQP_TASK_GEOMETRIC_PROJECTION__IMPL_H
-#define HIQP_TASK_GEOMETRIC_PROJECTION__IMPL_H
+#ifndef HIQP_TDEF_GEOMETRIC_PROJECTION__IMPL_H
+#define HIQP_TDEF_GEOMETRIC_PROJECTION__IMPL_H
 
 #include <sstream>
 #include <iterator>
@@ -28,14 +28,14 @@ namespace tasks
 {
 
   template<typename PrimitiveA, typename PrimitiveB>
-  TaskGeometricProjection<PrimitiveA, PrimitiveB>::TaskGeometricProjection(
+  TDefGeometricProjection<PrimitiveA, PrimitiveB>::TDefGeometricProjection(
     std::shared_ptr<GeometricPrimitiveMap> geom_prim_map,
     std::shared_ptr<Visualizer> visualizer)
   : TaskDefinition(geom_prim_map, visualizer) {}
 
 
   template<typename PrimitiveA, typename PrimitiveB>
-  int TaskGeometricProjection<PrimitiveA, PrimitiveB>::init(const std::vector<std::string>& parameters,
+  int TDefGeometricProjection<PrimitiveA, PrimitiveB>::init(const std::vector<std::string>& parameters,
                                                             RobotStatePtr robot_state) {
     int parameters_size = parameters.size();
     if (parameters_size != 4) {
@@ -72,14 +72,14 @@ namespace tasks
 
     primitive_a_ = gpm->getGeometricPrimitive<PrimitiveA>(args.at(0));
     if (primitive_a_ == nullptr) {
-      printHiqpWarning("In TaskGeometricProjection::init(), couldn't find primitive with name '"
+      printHiqpWarning("In TDefGeometricProjection::init(), couldn't find primitive with name '"
         + args.at(0) + "'. Unable to create task!");
       return -3;
     }
 
     primitive_b_ = gpm->getGeometricPrimitive<PrimitiveB>(args.at(2));
     if (primitive_b_ == nullptr) {
-      printHiqpWarning("In TaskGeometricProjection::init(), couldn't find primitive with name '"
+      printHiqpWarning("In TDefGeometricProjection::init(), couldn't find primitive with name '"
         + args.at(2) + "'. Unable to create task!");
       return -3;
     }
@@ -109,12 +109,12 @@ namespace tasks
 
 
   template<typename PrimitiveA, typename PrimitiveB>
-  int TaskGeometricProjection<PrimitiveA, PrimitiveB>::update(RobotStatePtr robot_state) {
+  int TDefGeometricProjection<PrimitiveA, PrimitiveB>::update(RobotStatePtr robot_state) {
     int retval = 0;
 
     retval = fk_solver_pos_->JntToCart(robot_state->kdl_jnt_array_vel_.q, pose_a_, primitive_a_->getFrameId());
     if (retval != 0) {
-      std::cerr << "In TaskGeometricProjection::apply : Can't solve position "
+      std::cerr << "In TDefGeometricProjection::apply : Can't solve position "
         << "of link '" << primitive_a_->getFrameId() << "'" << " in the "
         << "KDL tree! KDL::TreeFkSolverPos_recursive::JntToCart return "
         << "error code '" << retval << "'\n";
@@ -123,7 +123,7 @@ namespace tasks
 
     retval = fk_solver_pos_->JntToCart(robot_state->kdl_jnt_array_vel_.q, pose_b_, primitive_b_->getFrameId());
     if (retval != 0) {
-      std::cerr << "In TaskGeometricProjection::apply : Can't solve position "
+      std::cerr << "In TDefGeometricProjection::apply : Can't solve position "
         << "of link '" << primitive_b_->getFrameId() << "'" << " in the "
         << "KDL tree! KDL::TreeFkSolverPos_recursive::JntToCart return "
         << "error code '" << retval << "'\n";
@@ -133,7 +133,7 @@ namespace tasks
     jacobian_a_.resize(robot_state->kdl_jnt_array_vel_.q.rows());
     retval = fk_solver_jac_->JntToJac(robot_state->kdl_jnt_array_vel_.q, jacobian_a_, primitive_a_->getFrameId());
     if (retval != 0) {
-      std::cerr << "In TaskGeometricProjection::apply : Can't solve jacobian "
+      std::cerr << "In TDefGeometricProjection::apply : Can't solve jacobian "
         << "of link '" << primitive_a_->getFrameId() << "'" << " in the "
         << "KDL tree! KDL::TreeJntToJacSolver return error code "
         << "'" << retval << "'\n";
@@ -143,7 +143,7 @@ namespace tasks
     jacobian_b_.resize(robot_state->kdl_jnt_array_vel_.q.rows());
     retval = fk_solver_jac_->JntToJac(robot_state->kdl_jnt_array_vel_.q, jacobian_b_, primitive_b_->getFrameId());
     if (retval != 0) {
-      std::cerr << "In TaskGeometricProjection::apply : Can't solve jacobian "
+      std::cerr << "In TDefGeometricProjection::apply : Can't solve jacobian "
         << "of link '" << primitive_b_->getFrameId() << "'" << " in the "
         << "KDL tree! KDL::TreeJntToJacSolver return error code "
         << "'" << retval << "'\n";
@@ -156,12 +156,12 @@ namespace tasks
   }
 
   template<typename PrimitiveA, typename PrimitiveB>
-  int TaskGeometricProjection<PrimitiveA, PrimitiveB>::monitor() {
+  int TDefGeometricProjection<PrimitiveA, PrimitiveB>::monitor() {
     return 0;
   }
 
   template<typename PrimitiveA, typename PrimitiveB>
-  KDL::Vector TaskGeometricProjection<PrimitiveA, PrimitiveB>::getVelocityJacobianForTwoPoints(
+  KDL::Vector TDefGeometricProjection<PrimitiveA, PrimitiveB>::getVelocityJacobianForTwoPoints(
     const KDL::Vector& p1, 
     const KDL::Vector& p2,
     int q_nr) 
@@ -175,7 +175,7 @@ namespace tasks
   }
 
   template<typename PrimitiveA, typename PrimitiveB>
-  void TaskGeometricProjection<PrimitiveA, PrimitiveB>::maskJacobian(RobotStatePtr robot_state) {
+  void TDefGeometricProjection<PrimitiveA, PrimitiveB>::maskJacobian(RobotStatePtr robot_state) {
     for (unsigned int c=0; c<robot_state->getNumJoints(); ++c) {
       if (!robot_state->isQNrWritable(c))
         J_.col(c).setZero();