List of all members | Public Member Functions | Public Attributes
CollisionAvoidanceController::RtStatusForSafetyStrategy Class Reference

internal status of the controller, containing intermediate variables, mutable targets More...

#include <armarx/control/common/control_law/CollisionAvoidance.h>

Public Member Functions

void reset (const Config &c, const unsigned int nDoF, const unsigned int maxCollisionPairs, VirtualRobot::RobotNodeSetPtr &rns)
 
void rtPreActivate ()
 

Public Attributes

unsigned int activeCollPairsNum
 
unsigned int collisionPairsNum
 collision pair info More...
 
double collisionPairTime
 time status More...
 
double collisionTorqueTime
 
float dampingJointLim
 
Eigen::VectorXf desiredJointTorques
 targets More...
 
float desiredNullSpace
 
Eigen::Vector3f dirErrorImp
 
Eigen::Matrix4f globalPose = Eigen::Matrix4f::Identity()
 global pose More...
 
Eigen::VectorXf impedanceJointTorque
 intermediate torque results More...
 
float impForceRatio
 
float impTorqueRatio
 
Eigen::MatrixXd inertia
 others More...
 
Eigen::MatrixXf inertiaInverse
 
float jointInertia
 
std::vector< JointRangeBufferZoneData > jointLimitData
 joint limit avoidance initialization parameters More...
 
Eigen::VectorXf jointLimitJointTorque
 
double jointLimitNullspaceTime
 
Eigen::VectorXf jointLimitTorqueFiltered
 
double jointLimitTorqueTime
 
Eigen::MatrixXf jointLimNullSpace
 
Eigen::MatrixXf jointLimNullSpaceFiltered
 
float jointVel
 joint limit avoidance intermediate results More...
 
float k1
 self-collision avoidance null space intermediate results More...
 
float k1Hi
 
float k1Lo
 
float k2
 
float k2Hi
 
float k2Lo
 
float k3
 
float k3Hi
 
float k3Lo
 
float k4
 
float k4Hi
 
float k4Lo
 
Eigen::VectorXf kdImpedanceTorque
 
float localStiffnessJointLim
 
Eigen::VectorXf normalizedJacT
 
double preFilterTime
 
Eigen::Vector6f projForceImpedance
 
Eigen::VectorXf projImpedanceJointTorque
 intermediate projected torques via null space matrices More...
 
Eigen::VectorXf projJointLimJointTorque
 
Eigen::VectorXf projSelfCollJointTorque
 
float projTotalForceImpedance
 
std::vector< SelfCollisionData > selfCollDataVec
 distance results More...
 
Eigen::VectorXf selfCollisionJointTorque
 
Eigen::Vector4f selfCollisionNullSpaceWeights
 self-collision avoidance initialization parameters More...
 
Eigen::VectorXf selfCollisionTorqueFiltered
 
Eigen::MatrixXf selfCollNullSpace
 intermediate null space matrices (self-collision and joint limit avoidance) More...
 
Eigen::MatrixXf selfCollNullSpaceFiltered
 
double selfCollNullspaceTime
 
Eigen::MatrixXf tempNullSpaceMatrix
 
float totalForceImpedance
 
float trackingError
 

Detailed Description

internal status of the controller, containing intermediate variables, mutable targets

Definition at line 143 of file CollisionAvoidance.h.

Member Function Documentation

◆ reset()

void reset ( const Config &  c,
const unsigned int  nDoF,
const unsigned int  maxCollisionPairs,
VirtualRobot::RobotNodeSetPtr &  rns 
)

intermediate torque results

intermediate projected torques via null space matrices

intermediate null space matrices (self-collision and joint limit avoidance)

self-collision avoidance initialization parameters calculate weights for self-collision nullspace transition function range between z1 and z2 z1: below this distance [m] the collision direction is fully locked z2: above this distance collision direction is unrestricted

distance results

self-collision avoidance null space intermediate results

joint limit avoidance initialization parameters

others

time status

collision pair info

Definition at line 785 of file CollisionAvoidance.cpp.

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◆ rtPreActivate()

void rtPreActivate ( )
inline

Definition at line 229 of file CollisionAvoidance.h.

Member Data Documentation

◆ activeCollPairsNum

unsigned int activeCollPairsNum

Definition at line 223 of file CollisionAvoidance.h.

◆ collisionPairsNum

unsigned int collisionPairsNum

collision pair info

Definition at line 222 of file CollisionAvoidance.h.

◆ collisionPairTime

double collisionPairTime

time status

Definition at line 214 of file CollisionAvoidance.h.

◆ collisionTorqueTime

double collisionTorqueTime

Definition at line 216 of file CollisionAvoidance.h.

◆ dampingJointLim

float dampingJointLim

Definition at line 204 of file CollisionAvoidance.h.

◆ desiredJointTorques

Eigen::VectorXf desiredJointTorques

targets

Definition at line 149 of file CollisionAvoidance.h.

◆ desiredNullSpace

float desiredNullSpace

Definition at line 178 of file CollisionAvoidance.h.

◆ dirErrorImp

Eigen::Vector3f dirErrorImp

Definition at line 153 of file CollisionAvoidance.h.

◆ globalPose

Eigen::Matrix4f globalPose = Eigen::Matrix4f::Identity()

global pose

Definition at line 147 of file CollisionAvoidance.h.

◆ impedanceJointTorque

Eigen::VectorXf impedanceJointTorque

intermediate torque results

Definition at line 159 of file CollisionAvoidance.h.

◆ impForceRatio

float impForceRatio

Definition at line 173 of file CollisionAvoidance.h.

◆ impTorqueRatio

float impTorqueRatio

Definition at line 172 of file CollisionAvoidance.h.

◆ inertia

Eigen::MatrixXd inertia

others

Definition at line 210 of file CollisionAvoidance.h.

◆ inertiaInverse

Eigen::MatrixXf inertiaInverse

Definition at line 211 of file CollisionAvoidance.h.

◆ jointInertia

float jointInertia

Definition at line 201 of file CollisionAvoidance.h.

◆ jointLimitData

std::vector<JointRangeBufferZoneData> jointLimitData

joint limit avoidance initialization parameters

Definition at line 197 of file CollisionAvoidance.h.

◆ jointLimitJointTorque

Eigen::VectorXf jointLimitJointTorque

Definition at line 162 of file CollisionAvoidance.h.

◆ jointLimitNullspaceTime

double jointLimitNullspaceTime

Definition at line 219 of file CollisionAvoidance.h.

◆ jointLimitTorqueFiltered

Eigen::VectorXf jointLimitTorqueFiltered

Definition at line 165 of file CollisionAvoidance.h.

◆ jointLimitTorqueTime

double jointLimitTorqueTime

Definition at line 217 of file CollisionAvoidance.h.

◆ jointLimNullSpace

Eigen::MatrixXf jointLimNullSpace

Definition at line 177 of file CollisionAvoidance.h.

◆ jointLimNullSpaceFiltered

Eigen::MatrixXf jointLimNullSpaceFiltered

Definition at line 181 of file CollisionAvoidance.h.

◆ jointVel

float jointVel

joint limit avoidance intermediate results

Definition at line 200 of file CollisionAvoidance.h.

◆ k1

float k1

self-collision avoidance null space intermediate results

Definition at line 190 of file CollisionAvoidance.h.

◆ k1Hi

float k1Hi

Definition at line 207 of file CollisionAvoidance.h.

◆ k1Lo

float k1Lo

Definition at line 206 of file CollisionAvoidance.h.

◆ k2

float k2

Definition at line 190 of file CollisionAvoidance.h.

◆ k2Hi

float k2Hi

Definition at line 207 of file CollisionAvoidance.h.

◆ k2Lo

float k2Lo

Definition at line 206 of file CollisionAvoidance.h.

◆ k3

float k3

Definition at line 190 of file CollisionAvoidance.h.

◆ k3Hi

float k3Hi

Definition at line 207 of file CollisionAvoidance.h.

◆ k3Lo

float k3Lo

Definition at line 206 of file CollisionAvoidance.h.

◆ k4

float k4

Definition at line 190 of file CollisionAvoidance.h.

◆ k4Hi

float k4Hi

Definition at line 207 of file CollisionAvoidance.h.

◆ k4Lo

float k4Lo

Definition at line 206 of file CollisionAvoidance.h.

◆ kdImpedanceTorque

Eigen::VectorXf kdImpedanceTorque

Definition at line 160 of file CollisionAvoidance.h.

◆ localStiffnessJointLim

float localStiffnessJointLim

Definition at line 203 of file CollisionAvoidance.h.

◆ normalizedJacT

Eigen::VectorXf normalizedJacT

Definition at line 191 of file CollisionAvoidance.h.

◆ preFilterTime

double preFilterTime

Definition at line 215 of file CollisionAvoidance.h.

◆ projForceImpedance

Eigen::Vector6f projForceImpedance

Definition at line 155 of file CollisionAvoidance.h.

◆ projImpedanceJointTorque

Eigen::VectorXf projImpedanceJointTorque

intermediate projected torques via null space matrices

Definition at line 168 of file CollisionAvoidance.h.

◆ projJointLimJointTorque

Eigen::VectorXf projJointLimJointTorque

Definition at line 170 of file CollisionAvoidance.h.

◆ projSelfCollJointTorque

Eigen::VectorXf projSelfCollJointTorque

Definition at line 169 of file CollisionAvoidance.h.

◆ projTotalForceImpedance

float projTotalForceImpedance

Definition at line 156 of file CollisionAvoidance.h.

◆ selfCollDataVec

std::vector<SelfCollisionData> selfCollDataVec

distance results

Definition at line 187 of file CollisionAvoidance.h.

◆ selfCollisionJointTorque

Eigen::VectorXf selfCollisionJointTorque

Definition at line 161 of file CollisionAvoidance.h.

◆ selfCollisionNullSpaceWeights

Eigen::Vector4f selfCollisionNullSpaceWeights

self-collision avoidance initialization parameters

Definition at line 184 of file CollisionAvoidance.h.

◆ selfCollisionTorqueFiltered

Eigen::VectorXf selfCollisionTorqueFiltered

Definition at line 164 of file CollisionAvoidance.h.

◆ selfCollNullSpace

Eigen::MatrixXf selfCollNullSpace

intermediate null space matrices (self-collision and joint limit avoidance)

Definition at line 176 of file CollisionAvoidance.h.

◆ selfCollNullSpaceFiltered

Eigen::MatrixXf selfCollNullSpaceFiltered

Definition at line 180 of file CollisionAvoidance.h.

◆ selfCollNullspaceTime

double selfCollNullspaceTime

Definition at line 218 of file CollisionAvoidance.h.

◆ tempNullSpaceMatrix

Eigen::MatrixXf tempNullSpaceMatrix

Definition at line 192 of file CollisionAvoidance.h.

◆ totalForceImpedance

float totalForceImpedance

Definition at line 154 of file CollisionAvoidance.h.

◆ trackingError

float trackingError

Definition at line 151 of file CollisionAvoidance.h.

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