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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)
 
void updateFT (const common::ft::arondto::FTConfig &c, RtStatus &rtStatus)
 

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 40 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 67 of file ZeroTorqueOrVelocityController.h.

◆ ConfigDict

using ConfigDict = arondto::ZeroTorqueOrVelocityControllerConfigDict

Definition at line 68 of file ZeroTorqueOrVelocityController.h.

Member Function Documentation

◆ firstRun()

void firstRun ( )

Definition at line 44 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 14 of file ZeroTorqueOrVelocityController.cpp.

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◆ preactivateInit()

void preactivateInit ( const VirtualRobot::RobotNodeSetPtr &  rns)

Definition at line 39 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 101 of file ZeroTorqueOrVelocityController.cpp.

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◆ updateFT()

void updateFT ( const common::ft::arondto::FTConfig &  c,
RtStatus &  rtStatus 
)

run in rt thread

TODO how to toggle recalibration?

Definition at line 77 of file ZeroTorqueOrVelocityController.cpp.

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Member Data Documentation

◆ ftsensor

common::ft::FTSensor ftsensor

Definition at line 119 of file ZeroTorqueOrVelocityController.h.

◆ jointIDTorqueMode

std::vector<size_t> jointIDTorqueMode

Definition at line 121 of file ZeroTorqueOrVelocityController.h.

◆ jointIDVelocityMode

std::vector<size_t> jointIDVelocityMode

Definition at line 122 of file ZeroTorqueOrVelocityController.h.

◆ nDoFTorque

size_t nDoFTorque

Definition at line 104 of file ZeroTorqueOrVelocityController.h.

◆ nDoFVelocity

size_t nDoFVelocity

Definition at line 105 of file ZeroTorqueOrVelocityController.h.

◆ numOfJoints

unsigned int numOfJoints

Definition at line 103 of file ZeroTorqueOrVelocityController.h.

◆ rtTCP

VirtualRobot::RobotNodePtr rtTCP

Definition at line 118 of file ZeroTorqueOrVelocityController.h.

◆ tcp

VirtualRobot::RobotNodePtr tcp

Definition at line 117 of file ZeroTorqueOrVelocityController.h.

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