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

Classes
struct	Config
	you can set the following values from outside of the rt controller via Ice interfaces More...

struct	NonRtStatus

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

Public Member Functions
void	firstRun ()

void	initialize (const VirtualRobot::RobotNodeSetPtr &rns)

void	preactivateInit (const VirtualRobot::RobotNodeSetPtr &rns)

void	run (const Config &cfg, ControlTarget &targets)

bool	updateControlStatus (const Config &cfg, const RobotStatus &robotStatus)

Public Attributes
TripleBuffer< NonRtStatus >	bufferNonRtToOnPublish

TripleBuffer< NonRtStatus >	bufferNonRtToRt

TripleBuffer< NonRtStatus >	bufferNonRtToUser

TripleBuffer< RtStatus >	bufferRtToOnPublish

std::atomic< bool >	isInitialized {false}

VirtualRobot::RobotNodePtr	tcp

Detailed Description

Definition at line 38 of file TaskspaceImpedanceController.h.

Member Function Documentation

◆ firstRun()

void firstRun ( )

Definition at line 68 of file TaskspaceImpedanceController.cpp.

◆ initialize()

void initialize ( const VirtualRobot::RobotNodeSetPtr & rns )

Definition at line 20 of file TaskspaceImpedanceController.cpp.

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◆ preactivateInit()

void preactivateInit ( const VirtualRobot::RobotNodeSetPtr & rns )

Definition at line 34 of file TaskspaceImpedanceController.cpp.

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◆ run()

void run	(	const Config &	cfg,
		ControlTarget &	targets
	)

run in rt thread

--------------------------— Impedance control ------------------------------------------— calculate pose error between target pose and current pose !!! This is very important: you have to keep postion and orientation both with UI unit (meter, radian) to calculate impedance force.

--------------------------— Nullspace PD Control -----------------------------------------------—

--------------------------— Map TS target force to JS -----------------------------------------------—

--------------------------— write torque target -----------------------------------------------—

Definition at line 135 of file TaskspaceImpedanceController.cpp.

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◆ updateControlStatus()

bool updateControlStatus	(	const Config &	cfg,
		const RobotStatus &	robotStatus
	)

check size and value

--------------------------— get current status of robot ------------------------------------------— original data in ArmarX use the following units: position in mm, joint angles and orientation in radian, velocity in mm/s and radian/s, etc. here we convert mm to m, if you use MP from outside, make sure to convert it back to mm

Definition at line 80 of file TaskspaceImpedanceController.cpp.

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