The DeprecatedNJointTaskSpaceAdmittanceDMPController class. More...

#include <armarx/control/deprecated_njoint_mp_controller/task_space/DeprecatedNJointTaskSpaceAdmittanceDMPController.h>

Inheritance diagram for DeprecatedNJointTaskSpaceAdmittanceDMPController:

Public Types
using	ConfigPtrT = DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfigPtr

Public Types inherited from NJointControllerWithTripleBuffer< DeprecatedNJointTaskSpaceAdmittanceDMPControllerControlData >
using	LockGuardType = std::lock_guard< std::recursive_mutex >

using	MutexType = std::recursive_mutex

Public Types inherited from NJointControllerBase
using	ConfigPtrT = NJointControllerConfigPtr

using	GenerateConfigDescriptionFunctionSignature = WidgetDescription::WidgetPtr(*)(const VirtualRobot::RobotPtr &, const std::map< std::string, ConstControlDevicePtr > &controlDevices, const std::map< std::string, ConstSensorDevicePtr > &sensorDevices)

template<class ConfigPrtType >
using	GenerateConfigFromVariantsFunctionSignature = ConfigPrtType(*)(const StringVariantBaseMap &)

Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Public Member Functions
Ice::DoubleSeq	createDMPFromString (const std::string &, const Ice::Current &) override

	DeprecatedNJointTaskSpaceAdmittanceDMPController (const RobotUnitPtr &robotUnit, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &)

Ice::Double	getCanVal (const Ice::Current &) override

std::string	getClassName (const Ice::Current &) const override

std::string	getDMPAsString (const Ice::Current &) override

Eigen::Vector6f	getFilteredForceTorque (Eigen::Vector3f &forceBaseline, Eigen::Vector3f &torqueBaseline, Eigen::Vector6f &handCompensatedFT)

std::string	getKinematicChainName (const Ice::Current &) override

DoubleSeqSeq	getMPWeights (const Ice::Current &) override

Eigen::Vector6f	getTCPGravityCompensation (Eigen::Matrix4f &currentPose, float tcpMass)

Ice::Double	getVirtualTime (const Ice::Current &) override

bool	isFinished (const Ice::Current &) override

void	learnDMPFromFiles (const Ice::StringSeq &fileNames, const Ice::Current &) override

void	learnJointDMPFromFiles (const std::string &fileName, const Ice::FloatSeq &currentJVS, const Ice::Current &) override

void	pauseDMP (const Ice::Current &) override

void	removeAllViaPoints (const Ice::Current &) override

void	resetDMP (const Ice::Current &) override

void	resumeDMP (const Ice::Current &) override

void	rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) override
	TODO make protected and use attorneys. More...

void	runDMP (const Ice::DoubleSeq &goals, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	runDMPWithTime (const Ice::DoubleSeq &goals, Ice::Double timeDuration, const Ice::Current &) override

void	setGoals (const Ice::DoubleSeq &goals, const Ice::Current &) override

void	setKdAdmittance (const Eigen::Vector6f &kdAdmittance, const Ice::Current &) override

void	setKdImpedance (const Eigen::Vector6f &kdImpedance, const Ice::Current &) override

void	setKmAdmittance (const Eigen::Vector6f &kmAdmittance, const Ice::Current &) override

void	setKpAdmittance (const Eigen::Vector6f &kpAdmittance, const Ice::Current &) override

void	setKpImpedance (const Eigen::Vector6f &kpImpedance, const Ice::Current &) override

void	setMPWeights (const DoubleSeqSeq &weights, const Ice::Current &) override

void	setNullspaceVelocityKd (const Eigen::VectorXf &kd, const Ice::Current &) override

void	setNullspaceVelocityKp (const Eigen::VectorXf &kp, const Ice::Current &) override

void	setPotentialForceBaseline (const Eigen::Vector3f &, const Eigen::Vector3f &, const Ice::Current &) override

void	setStartAndGoals (const Ice::DoubleSeq &starts, const Ice::DoubleSeq &goals, const Ice::Current &ice) override

void	setTargetNullSpaceJointValues (const Eigen::VectorXf &jointValues, const Ice::Current &) override

void	setTCPCoMInFTFrame (const Eigen::Vector3f &com, const Ice::Current &) override

void	setTCPMass (Ice::Float mass, const Ice::Current &) override

void	setUseNullSpaceJointDMP (bool enable, const Ice::Current &) override

void	setViaPoints (Ice::Double u, const Ice::DoubleSeq &viapoint, const Ice::Current &) override

void	stopDMP (const Ice::Current &) override

Public Member Functions inherited from NJointControllerWithTripleBuffer< DeprecatedNJointTaskSpaceAdmittanceDMPControllerControlData >
	NJointControllerWithTripleBuffer (const DeprecatedNJointTaskSpaceAdmittanceDMPControllerControlData &initialCommands=DeprecatedNJointTaskSpaceAdmittanceDMPControllerControlData())

void	rtSwapBufferAndRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) override

Public Member Functions inherited from NJointControllerBase
void	activateController (const Ice::Current &=Ice::emptyCurrent) final override

void	callDescribedFunction (const std::string &, const StringVariantBaseMap &, const Ice::Current &=Ice::emptyCurrent) override

void	deactivateAndDeleteController (const Ice::Current &=Ice::emptyCurrent) final override

void	deactivateController (const Ice::Current &=Ice::emptyCurrent) final override

void	deleteController (const Ice::Current &=Ice::emptyCurrent) final override

const std::map< std::string, const JointController * > &	getControlDevicesUsedJointController ()

const std::vector< char > &	getControlDeviceUsedBitmap () const

StringStringDictionary	getControlDeviceUsedControlModeMap (const Ice::Current &=Ice::emptyCurrent) const final override

const std::vector< std::size_t > &	getControlDeviceUsedIndices () const

NJointControllerDescription	getControllerDescription (const Ice::Current &=Ice::emptyCurrent) const final override

NJointControllerDescriptionWithStatus	getControllerDescriptionWithStatus (const Ice::Current &=Ice::emptyCurrent) const final override

NJointControllerStatus	getControllerStatus (const Ice::Current &=Ice::emptyCurrent) const final override

WidgetDescription::StringWidgetDictionary	getFunctionDescriptions (const Ice::Current &=Ice::emptyCurrent) const override

std::string	getInstanceName (const Ice::Current &=Ice::emptyCurrent) const final override

bool	hasControllerError (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isControllerActive (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isControllerRequested (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isDeletable (const Ice::Current &=Ice::emptyCurrent) const final override

std::optional< std::vector< char > >	isNotInConflictWith (const NJointControllerBasePtr &other) const

std::optional< std::vector< char > >	isNotInConflictWith (const std::vector< char > &used) const

	NJointControllerBase ()

ConstControlDevicePtr	peekControlDevice (const std::string &deviceName) const
	Get a const ptr to the given ControlDevice. More...

ConstSensorDevicePtr	peekSensorDevice (const std::string &deviceName) const
	Get a const ptr to the given SensorDevice. More...

const std::string &	rtGetClassName () const
	Returns the class name. More...

const std::vector< std::size_t > &	rtGetControlDeviceUsedIndices () const
	Returns the indices of all ControlDevice's this NJointControllerBase calculates a ControlTarget for. More...

bool	rtGetErrorState () const
	Sets the error state to true. More...

const std::string &	rtGetInstanceName () const
	Returns the instance name. More...

std::size_t	rtGetNumberOfUsedControlDevices () const
	Returns the number of used ControlDevices. More...

const VirtualRobot::RobotPtr &	rtGetRobot ()
	TODO make protected and use attorneys. More...

const std::vector< VirtualRobot::RobotNodePtr > &	rtGetRobotNodes ()
	Returns the nodes of the virtual robot used by this NJointControllerBase in the rtRun. More...

bool	rtUsesControlDevice (std::size_t deviceIndex) const
	Returns whether this NJointControllerBase calculates a ControlTarget for the given ControlDevice. More...

ControlTargetBase *	useControlTarget (const std::string &deviceName, const std::string &controlMode)
	Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More...

template<class T >
T *	useControlTarget (const std::string &deviceName, const std::string &controlMode)
	Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More...

template<class T >
const T *	useSensorValue (const std::string &deviceName) const
	Get a const ptr to the given SensorDevice's SensorValue. More...

const SensorValueBase *	useSensorValue (const std::string &sensorDeviceName) const
	Get a const ptr to the given SensorDevice's SensorValue. More...

const VirtualRobot::RobotPtr &	useSynchronizedRtRobot (bool updateCollisionModel=false)
	Requests a VirtualRobot for use in rtRun *. More...

	~NJointControllerBase () override

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from DeprecatedNJointTaskSpaceAdmittanceDMPControllerInterface
Ice::DoubleSeq	createDMPFromString (string dmpString)

double	getCanVal ()

string	getDMPAsString ()

string	getKinematicChainName ()

DoubleSeqSeq	getMPWeights ()

double	getVirtualTime ()

bool	isFinished ()

void	learnDMPFromFiles (Ice::StringSeq trajfiles)

void	learnJointDMPFromFiles (string jointTrajFile, Ice::FloatSeq currentJVS)

void	pauseDMP ()

void	removeAllViaPoints ()

void	resetDMP ()

void	resumeDMP ()

void	runDMP (Ice::DoubleSeq goals)

void	runDMPWithTime (Ice::DoubleSeq goals, double timeDuration)

void	setGoals (Ice::DoubleSeq goals)

void	setKdAdmittance (Eigen::Vector6f kdAdmittance)

void	setKdImpedance (Eigen::Vector6f kdImpedance)

void	setKmAdmittance (Eigen::Vector6f kmAdmittance)

void	setKpAdmittance (Eigen::Vector6f kpAdmittance)

void	setKpImpedance (Eigen::Vector6f kpImpedance)

void	setMPWeights (DoubleSeqSeq weights)

void	setNullspaceVelocityKd (Eigen::VectorXf jointValues)

void	setNullspaceVelocityKp (Eigen::VectorXf jointValues)

void	setPotentialForceBaseline (Eigen::Vector3f force, Eigen::Vector3f torque)

void	setStartAndGoals (Ice::DoubleSeq starts, Ice::DoubleSeq goals)

void	setTargetNullSpaceJointValues (Eigen::VectorXf jointValues)

void	setTCPCoMInFTFrame (Eigen::Vector3f com)

void	setTCPMass (float mass)

void	setUseNullSpaceJointDMP (bool enable)

void	setViaPoints (double canVal, Ice::DoubleSeq point)

void	stopDMP ()

Protected Member Functions
void	controllerRun ()

void	onDisconnectNJointController () override

void	onInitNJointController () override

virtual void	onPublish (const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &) override

void	rtPreActivateController () override
	This function is called before the controller is activated. More...

Protected Member Functions inherited from NJointControllerWithTripleBuffer< DeprecatedNJointTaskSpaceAdmittanceDMPControllerControlData >
DeprecatedNJointTaskSpaceAdmittanceDMPControllerControlData &	getWriterControlStruct ()

void	reinitTripleBuffer (const DeprecatedNJointTaskSpaceAdmittanceDMPControllerControlData &initial)

const DeprecatedNJointTaskSpaceAdmittanceDMPControllerControlData &	rtGetControlStruct () const

bool	rtUpdateControlStruct ()

void	setControlStruct (const DeprecatedNJointTaskSpaceAdmittanceDMPControllerControlData &newStruct)

void	writeControlStruct ()

Protected Member Functions inherited from NJointControllerBase
std::string	getDefaultName () const override

ThreadPoolPtr	getThreadPool () const

void	onConnectComponent () final

virtual void	onConnectNJointController ()

void	onDisconnectComponent () final

void	onExitComponent () final

virtual void	onExitNJointController ()

void	onInitComponent () final

virtual void	onPublishActivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)

virtual void	onPublishDeactivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)

virtual void	rtPostDeactivateController ()
	This function is called after the controller is deactivated. More...

void	rtSetErrorState ()
	Sets the error state to true. More...

template<typename Task >
void	runTask (const std::string &taskName, Task &&task)
	Executes a given task in a separate thread from the Application ThreadPool. More...

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnConnectComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

virtual void	preOnInitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Additional Inherited Members
Static Public Member Functions inherited from NJointControllerBase
template<class ItT >
static std::optional< std::vector< char > >	AreNotInConflict (ItT first, ItT last)

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from NJointControllerBase
static const NJointControllerBasePtr	NullPtr {nullptr}

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Protected Attributes inherited from NJointControllerWithTripleBuffer< DeprecatedNJointTaskSpaceAdmittanceDMPControllerControlData >
MutexType	controlDataMutex

Protected Attributes inherited from NJointControllerBase
std::map< std::string, std::shared_ptr< ThreadPool::Handle > >	threadHandles

std::mutex	threadHandlesMutex

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

The DeprecatedNJointTaskSpaceAdmittanceDMPController class.

Definition at line 43 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.h.

Member Typedef Documentation

◆ ConfigPtrT

using ConfigPtrT = DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfigPtr

Definition at line 48 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.h.

Constructor & Destructor Documentation

◆ DeprecatedNJointTaskSpaceAdmittanceDMPController()

DeprecatedNJointTaskSpaceAdmittanceDMPController	(	const RobotUnitPtr &	robotUnit,
		const NJointControllerConfigPtr &	config,
		const VirtualRobot::RobotPtr &
	)

setup kinematics

setup force sensor and filters

set MP

task space
null space

Admittance vairables

initialize control parameters and buffers

control parameter

Definition at line 10 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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Member Function Documentation

◆ controllerRun()

void controllerRun ( )

protected

Definition at line 182 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ createDMPFromString()

Ice::DoubleSeq createDMPFromString	(	const std::string &	dmpString,
		const Ice::Current &
	)

override

Definition at line 650 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ getCanVal()

Ice::Double getCanVal ( const Ice::Current & )

override

Definition at line 656 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ getClassName()

std::string getClassName ( const Ice::Current & ) const

overridevirtual

Implements NJointControllerBase.

Definition at line 170 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ getDMPAsString()

std::string getDMPAsString ( const Ice::Current & )

override

Definition at line 644 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ getFilteredForceTorque()

Eigen::Vector6f getFilteredForceTorque	(	Eigen::Vector3f &	forceBaseline,
		Eigen::Vector3f &	torqueBaseline,
		Eigen::Vector6f &	handCompensatedFT
	)

Definition at line 505 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ getKinematicChainName()

std::string getKinematicChainName ( const Ice::Current & )

override

Definition at line 540 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ getMPWeights()

DoubleSeqSeq getMPWeights ( const Ice::Current & )

override

Definition at line 841 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ getTCPGravityCompensation()

Eigen::Vector6f getTCPGravityCompensation	(	Eigen::Matrix4f &	currentPose,
		float	tcpMass
	)

Definition at line 489 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ getVirtualTime()

Ice::Double getVirtualTime ( const Ice::Current & )

override

Definition at line 682 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ isFinished()

bool isFinished ( const Ice::Current & )

override

Definition at line 556 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ learnDMPFromFiles()

void learnDMPFromFiles	(	const Ice::StringSeq &	fileNames,
		const Ice::Current &
	)

override

Definition at line 550 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ learnJointDMPFromFiles()

void learnJointDMPFromFiles	(	const std::string &	fileName,
		const Ice::FloatSeq &	currentJVS,
		const Ice::Current &
	)

override

Definition at line 585 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ onDisconnectNJointController()

void onDisconnectNJointController ( )

overrideprotectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 831 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ onInitNJointController()

void onInitNJointController ( )

overrideprotectedvirtual

initialize control parameters and buffers

control target
rt to interface
rt to mp

start mp thread

Reimplemented from NJointControllerBase.

Definition at line 128 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ onPublish()

void onPublish	(	const SensorAndControl &	,
		const DebugDrawerInterfacePrx &	,
		const DebugObserverInterfacePrx &	debugObs
	)

overrideprotectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 713 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ pauseDMP()

void pauseDMP ( const Ice::Current & )

override

Definition at line 639 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ removeAllViaPoints()

void removeAllViaPoints ( const Ice::Current & )

override

Definition at line 858 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ resetDMP()

void resetDMP ( const Ice::Current & )

override

Definition at line 621 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ resumeDMP()

void resumeDMP ( const Ice::Current & )

override

Definition at line 661 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ rtPreActivateController()

void rtPreActivateController ( )

overrideprotectedvirtual

This function is called before the controller is activated.

You can use it to activate a thread again (DO NOT SPAWN NEW THREADS!) e.g. via a std::atomic_bool.

Reimplemented from NJointControllerBase.

Definition at line 176 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ rtRun()

void rtRun	(	const IceUtil::Time &	sensorValuesTimestamp,
		const IceUtil::Time &	timeSinceLastIteration
	)

overridevirtual

TODO make protected and use attorneys.

-------------------------— get current kinematics ------------------------------------------—

write rt buffer

-------------------------— update control parameters ------------------------------------------—

-------------------------— get current force torque value ------------------------------------------—

-------------------------— get control targets ------------------------------------------—

rt is ready only if the FT sensor is calibrated, and the rt2interface buffer is updated (see above)

only when the ft sensor is calibrated can we

-------------------------— admittance control ------------------------------------------— calculate pose error between the virtual pose and the target pose

admittance control law and Euler Integration -> virtual pose

--------------------------— Impedance control ------------------------------------------— calculate pose error between virtual 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 -----------------------------------------------—

--------------------------— Send torque command to joint device -----------------------------------------------—

Implements SynchronousNJointController.

Definition at line 233 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ runDMP()

void runDMP	(	const Ice::DoubleSeq &	goals,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 687 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ runDMPWithTime()

void runDMPWithTime	(	const Ice::DoubleSeq &	goals,
		Ice::Double	timeDuration,
		const Ice::Current &
	)

override

Definition at line 673 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ setGoals()

void setGoals	(	const Ice::DoubleSeq &	goals,
		const Ice::Current &	ice
	)

override

Definition at line 570 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ setKdAdmittance()

void setKdAdmittance	(	const Eigen::Vector6f &	kdAdmittance,
		const Ice::Current &
	)

override

Definition at line 883 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ setKdImpedance()

void setKdImpedance	(	const Eigen::Vector6f &	kdImpedance,
		const Ice::Current &
	)

override

Definition at line 871 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ setKmAdmittance()

void setKmAdmittance	(	const Eigen::Vector6f &	kmAdmittance,
		const Ice::Current &
	)

override

Definition at line 889 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ setKpAdmittance()

void setKpAdmittance	(	const Eigen::Vector6f &	kpAdmittance,
		const Ice::Current &
	)

override

Definition at line 877 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ setKpImpedance()

void setKpImpedance	(	const Eigen::Vector6f &	kpImpedance,
		const Ice::Current &
	)

override

Definition at line 865 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ setMPWeights()

void setMPWeights	(	const DoubleSeqSeq &	weights,
		const Ice::Current &
	)

override

Definition at line 836 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ setNullspaceVelocityKd()

void setNullspaceVelocityKd	(	const Eigen::VectorXf &	kd,
		const Ice::Current &
	)

override

Definition at line 907 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ setNullspaceVelocityKp()

void setNullspaceVelocityKp	(	const Eigen::VectorXf &	kp,
		const Ice::Current &
	)

override

Definition at line 915 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ setPotentialForceBaseline()

void setPotentialForceBaseline	(	const Eigen::Vector3f &	force,
		const Eigen::Vector3f &	torque,
		const Ice::Current &
	)

override

Definition at line 932 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ setStartAndGoals()

void setStartAndGoals	(	const Ice::DoubleSeq &	starts,
		const Ice::DoubleSeq &	goals,
		const Ice::Current &	ice
	)

override

Definition at line 576 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ setTargetNullSpaceJointValues()

void setTargetNullSpaceJointValues	(	const Eigen::VectorXf &	jointValues,
		const Ice::Current &
	)

override

Definition at line 924 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ setTCPCoMInFTFrame()

void setTCPCoMInFTFrame	(	const Eigen::Vector3f &	com,
		const Ice::Current &
	)

override

Definition at line 901 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ setTCPMass()

void setTCPMass	(	Ice::Float	mass,
		const Ice::Current &
	)

override

Definition at line 895 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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◆ setUseNullSpaceJointDMP()

void setUseNullSpaceJointDMP	(	bool	enable,
		const Ice::Current &
	)

override

Definition at line 667 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ setViaPoints()

void setViaPoints	(	Ice::Double	u,
		const Ice::DoubleSeq &	viapoint,
		const Ice::Current &
	)

override

Definition at line 561 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

◆ stopDMP()

void stopDMP ( const Ice::Current & )

override

Definition at line 631 of file DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp.

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

armarx/control/deprecated_njoint_mp_controller/task_space/DeprecatedNJointTaskSpaceAdmittanceDMPController.h
armarx/control/deprecated_njoint_mp_controller/task_space/DeprecatedNJointTaskSpaceAdmittanceDMPController.cpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConfigPtrT

Constructor & Destructor Documentation

◆ DeprecatedNJointTaskSpaceAdmittanceDMPController()

Member Function Documentation

◆ controllerRun()

◆ createDMPFromString()

◆ getCanVal()

◆ getClassName()

◆ getDMPAsString()

◆ getFilteredForceTorque()

◆ getKinematicChainName()

◆ getMPWeights()

◆ getTCPGravityCompensation()

◆ getVirtualTime()

◆ isFinished()

◆ learnDMPFromFiles()

◆ learnJointDMPFromFiles()

◆ onDisconnectNJointController()

◆ onInitNJointController()

◆ onPublish()

◆ pauseDMP()

◆ removeAllViaPoints()

◆ resetDMP()

◆ resumeDMP()

◆ rtPreActivateController()

◆ rtRun()

◆ runDMP()

◆ runDMPWithTime()

◆ setGoals()

◆ setKdAdmittance()

◆ setKdImpedance()

◆ setKmAdmittance()

◆ setKpAdmittance()

◆ setKpImpedance()

◆ setMPWeights()

◆ setNullspaceVelocityKd()

◆ setNullspaceVelocityKp()

◆ setPotentialForceBaseline()

◆ setStartAndGoals()

◆ setTargetNullSpaceJointValues()

◆ setTCPCoMInFTFrame()

◆ setTCPMass()

◆ setUseNullSpaceJointDMP()

◆ setViaPoints()

◆ stopDMP()