CartesianVelocityController Class Reference

#include <RobotAPI/libraries/core/CartesianVelocityController.h>

Public Member Functions
Eigen::VectorXf	calculate (const Eigen::VectorXf &cartesianVel, const Eigen::VectorXf &nullspaceVel, VirtualRobot::IKSolver::CartesianSelection mode)
Eigen::VectorXf	calculate (const Eigen::VectorXf &cartesianVel, float KpJointLimitAvoidanceScale, VirtualRobot::IKSolver::CartesianSelection mode)
Eigen::VectorXf	calculate (const Eigen::VectorXf &cartesianVel, VirtualRobot::IKSolver::CartesianSelection mode)
Eigen::VectorXf	calculateJointLimitAvoidance ()
Eigen::VectorXf	calculateJointLimitAvoidanceWithMargins (const Eigen::VectorXf &margins)
	CartesianVelocityController::calculateJointLimitAvoidanceWithMargins. More...
Eigen::VectorXf	calculateNullspaceVelocity (const Eigen::VectorXf &cartesianVel, float KpScale, VirtualRobot::IKSolver::CartesianSelection mode)
Eigen::VectorXf	calculateRegularization (VirtualRobot::IKSolver::CartesianSelection mode)
	CartesianVelocityController (CartesianVelocityController &&)=default
	CartesianVelocityController (const VirtualRobot::RobotNodeSetPtr &rns, const VirtualRobot::RobotNodePtr &tcp=nullptr, const VirtualRobot::JacobiProvider::InverseJacobiMethod invJacMethod=VirtualRobot::JacobiProvider::eSVDDamped, bool _considerJointLimits=true)
bool	getConsiderJointLimits () const
CartesianVelocityController &	operator= (CartesianVelocityController &&)=default
void	setCartesianRegularization (float cartesianMMRegularization, float cartesianRadianRegularization)
void	setConsiderJointLimits (bool value)
void	setJointCosts (const std::vector< float > &_jointCosts)

Public Attributes
VirtualRobot::RobotNodePtr	_tcp
VirtualRobot::DifferentialIKPtr	ik
Eigen::MatrixXf	jacobi
Eigen::VectorXf	maximumJointVelocities
VirtualRobot::RobotNodeSetPtr	rns

Detailed Description

Definition at line 36 of file CartesianVelocityController.h.

Constructor & Destructor Documentation

CartesianVelocityController() [1/2]

CartesianVelocityController	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		const VirtualRobot::RobotNodePtr &	tcp = nullptr,
		const VirtualRobot::JacobiProvider::InverseJacobiMethod	invJacMethod = VirtualRobot::JacobiProvider::eSVDDamped,
		bool	_considerJointLimits = true
	)

Definition at line 38 of file CartesianVelocityController.cpp.

CartesianVelocityController() [2/2]

CartesianVelocityController ( CartesianVelocityController &&  )

default

Member Function Documentation

calculate() [1/3]

Eigen::VectorXf calculate	(	const Eigen::VectorXf &	cartesianVel,
		const Eigen::VectorXf &	nullspaceVel,
		VirtualRobot::IKSolver::CartesianSelection	mode
	)

Definition at line 102 of file CartesianVelocityController.cpp.

calculate() [2/3]

Eigen::VectorXf calculate	(	const Eigen::VectorXf &	cartesianVel,
		float	KpJointLimitAvoidanceScale,
		VirtualRobot::IKSolver::CartesianSelection	mode
	)

Definition at line 96 of file CartesianVelocityController.cpp.

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calculate() [3/3]

Eigen::VectorXf calculate	(	const Eigen::VectorXf &	cartesianVel,
		VirtualRobot::IKSolver::CartesianSelection	mode
	)

Definition at line 71 of file CartesianVelocityController.cpp.

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calculateJointLimitAvoidance()

Eigen::VectorXf calculateJointLimitAvoidance

(

)

Definition at line 152 of file CartesianVelocityController.cpp.

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calculateJointLimitAvoidanceWithMargins()

Eigen::VectorXf calculateJointLimitAvoidanceWithMargins

(

const Eigen::VectorXf &

margins

)

CartesianVelocityController::calculateJointLimitAvoidanceWithMargins.

Parameters

margins

Vector with same size as rns. Values between 0 (no margin) and 1 (50% low and 50% high margin).

Returns

Definition at line 177 of file CartesianVelocityController.cpp.

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calculateNullspaceVelocity()

Eigen::VectorXf calculateNullspaceVelocity	(	const Eigen::VectorXf &	cartesianVel,
		float	KpScale,
		VirtualRobot::IKSolver::CartesianSelection	mode
	)

Definition at line 201 of file CartesianVelocityController.cpp.

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calculateRegularization()

Eigen::VectorXf calculateRegularization

(

VirtualRobot::IKSolver::CartesianSelection

mode

)

Definition at line 219 of file CartesianVelocityController.cpp.

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getConsiderJointLimits()

bool getConsiderJointLimits

(

)

const

Definition at line 291 of file CartesianVelocityController.cpp.

operator=()

CartesianVelocityController& operator= ( CartesianVelocityController &&  )

default

setCartesianRegularization()

void setCartesianRegularization	(	float	cartesianMMRegularization,
		float	cartesianRadianRegularization
	)

Definition at line 213 of file CartesianVelocityController.cpp.

setConsiderJointLimits()

void setConsiderJointLimits

(

bool

value

)

Definition at line 296 of file CartesianVelocityController.cpp.

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setJointCosts()

void setJointCosts

(

const std::vector< float > &

_jointCosts

)

Definition at line 301 of file CartesianVelocityController.cpp.

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Member Data Documentation

_tcp

VirtualRobot::RobotNodePtr _tcp

Definition at line 61 of file CartesianVelocityController.h.

ik

VirtualRobot::DifferentialIKPtr ik

Definition at line 60 of file CartesianVelocityController.h.

jacobi

Eigen::MatrixXf jacobi

Definition at line 58 of file CartesianVelocityController.h.

maximumJointVelocities

Eigen::VectorXf maximumJointVelocities

Definition at line 62 of file CartesianVelocityController.h.

rns

VirtualRobot::RobotNodeSetPtr rns

Definition at line 59 of file CartesianVelocityController.h.

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

• RobotAPI/libraries/core/CartesianVelocityController.h
• RobotAPI/libraries/core/CartesianVelocityController.cpp