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#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 |
Definition at line 40 of file ZeroTorqueOrVelocityController.h.
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.
using ConfigDict = arondto::ZeroTorqueOrVelocityControllerConfigDict |
Definition at line 68 of file ZeroTorqueOrVelocityController.h.
void firstRun | ( | ) |
Definition at line 44 of file ZeroTorqueOrVelocityController.cpp.
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.
void preactivateInit | ( | const VirtualRobot::RobotNodeSetPtr & | rns | ) |
Definition at line 39 of file ZeroTorqueOrVelocityController.cpp.
---------------------------— 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.
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.
common::ft::FTSensor ftsensor |
Definition at line 119 of file ZeroTorqueOrVelocityController.h.
std::vector<size_t> jointIDTorqueMode |
Definition at line 121 of file ZeroTorqueOrVelocityController.h.
std::vector<size_t> jointIDVelocityMode |
Definition at line 122 of file ZeroTorqueOrVelocityController.h.
size_t nDoFTorque |
Definition at line 104 of file ZeroTorqueOrVelocityController.h.
size_t nDoFVelocity |
Definition at line 105 of file ZeroTorqueOrVelocityController.h.
unsigned int numOfJoints |
Definition at line 103 of file ZeroTorqueOrVelocityController.h.
VirtualRobot::RobotNodePtr rtTCP |
Definition at line 118 of file ZeroTorqueOrVelocityController.h.
VirtualRobot::RobotNodePtr tcp |
Definition at line 117 of file ZeroTorqueOrVelocityController.h.