ZeroTorqueOrVelocityController Class Reference

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

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

Public Types
using	Config = arondto::ZeroTorqueOrVelocityControllerConfig
	you can set the following values from outside of the rt controller via Ice interfaces More...
using	ConfigDict = arondto::ZeroTorqueOrVelocityControllerConfigDict

Public Member Functions
void	firstRun ()
void	initialize (const VirtualRobot::RobotNodeSetPtr &rns, const VirtualRobot::RobotNodeSetPtr &rtRns, const std::vector< size_t > &torqueControlledIndex, const std::vector< size_t > &velocityControlledIndex)
void	preactivateInit (const VirtualRobot::RobotNodeSetPtr &rns)
void	run (Config &c, RtStatus &robotStatus)

Public Attributes
common::ft::FTSensor	ftsensor
std::vector< size_t >	jointIDTorqueMode
std::vector< size_t >	jointIDVelocityMode
size_t	nDoFTorque
size_t	nDoFVelocity
unsigned int	numOfJoints
VirtualRobot::RobotNodePtr	rtTCP
VirtualRobot::RobotNodePtr	tcp

Detailed Description

Definition at line 34 of file ZeroTorqueOrVelocityController.h.

Member Typedef Documentation

Config

using Config = arondto::ZeroTorqueOrVelocityControllerConfig

you can set the following values from outside of the rt controller via Ice interfaces

Definition at line 61 of file ZeroTorqueOrVelocityController.h.

ConfigDict

using ConfigDict = arondto::ZeroTorqueOrVelocityControllerConfigDict

Definition at line 62 of file ZeroTorqueOrVelocityController.h.

Member Function Documentation

firstRun()

void firstRun

(

)

Definition at line 49 of file ZeroTorqueOrVelocityController.cpp.

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initialize()

void initialize	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		const VirtualRobot::RobotNodeSetPtr &	rtRns,
		const std::vector< size_t > &	torqueControlledIndex,
		const std::vector< size_t > &	velocityControlledIndex
	)

Definition at line 19 of file ZeroTorqueOrVelocityController.cpp.

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preactivateInit()

void preactivateInit

(

const VirtualRobot::RobotNodeSetPtr &

rns

)

Definition at line 44 of file ZeroTorqueOrVelocityController.cpp.

run()

void run	(	Config &	c,
		RtStatus &	robotStatus
	)

---------------------------— compute jacobi ----------------------------------------------------------—

---------------------------— update velocity/twist ---------------------------------------------------—

----------------------------------— Velocity control ------------------------------------------------— TODO add doc

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

--------------------------— write torque/velocity target -----------------------------------------------—

Definition at line 106 of file ZeroTorqueOrVelocityController.cpp.

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Member Data Documentation

ftsensor

common::ft::FTSensor ftsensor

Definition at line 113 of file ZeroTorqueOrVelocityController.h.

jointIDTorqueMode

std::vector<size_t> jointIDTorqueMode

Definition at line 115 of file ZeroTorqueOrVelocityController.h.

jointIDVelocityMode

std::vector<size_t> jointIDVelocityMode

Definition at line 116 of file ZeroTorqueOrVelocityController.h.

nDoFTorque

size_t nDoFTorque

Definition at line 98 of file ZeroTorqueOrVelocityController.h.

nDoFVelocity

size_t nDoFVelocity

Definition at line 99 of file ZeroTorqueOrVelocityController.h.

numOfJoints

unsigned int numOfJoints

Definition at line 97 of file ZeroTorqueOrVelocityController.h.

rtTCP

VirtualRobot::RobotNodePtr rtTCP

Definition at line 112 of file ZeroTorqueOrVelocityController.h.

tcp

VirtualRobot::RobotNodePtr tcp

Definition at line 111 of file ZeroTorqueOrVelocityController.h.

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

• armarx/control/common/control_law/ZeroTorqueOrVelocityController.h
• armarx/control/common/control_law/ZeroTorqueOrVelocityController.cpp