Brief description of class NJointTaskspaceAdmittanceController. More...

#include <armarx/control/njoint_controller/task_space/AdmittanceController.h>

Inheritance diagram for NJointTaskspaceAdmittanceController:

Classes
struct	SensorDevices
	devices More...

Public Types
using	AronDTO = law::arondto::TaskspaceAdmittanceControllerConfig

using	BO = law::TaskspaceAdmittanceController::Config

using	ConfigPtrT = ConfigurableNJointControllerConfigPtr

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
void	calibrateFTSensor (const Ice::Current &) override

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

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

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

void	toggleGravityCompensation (const bool toggle, const Ice::Current &) override
	ft sensor More...

void	updateConfig (const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
	NJointController interface. More...

void	validateConfigData (BO &config)

Public Member Functions inherited from SynchronousNJointController
virtual void	rtSwapBufferAndRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)

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 NJointTaskspaceAdmittanceControllerInterface
void	calibrateFTSensor ()

void	toggleGravityCompensation (bool toggle)
	ft sensor More...

Protected Member Functions
virtual void	additionalTask ()

void	onInitNJointController () override
	NJointControllerBase interface. More...

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

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

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

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

ThreadPoolPtr	getThreadPool () const

void	onConnectComponent () final

virtual void	onConnectNJointController ()

void	onDisconnectComponent () final

virtual void	onDisconnectNJointController ()

void	onExitComponent () final

virtual void	onExitNJointController ()

void	onInitComponent () final

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

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

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

Protected Attributes
TripleBuffer< law::RobotStatus >	bufferRtToAdditionalTask

TripleBuffer< BO >	bufferUserToAdditionalTask
	set buffers More...

TripleBuffer< BO >	bufferUserToRt

law::TaskspaceAdmittanceController	controller

common::control_law::ControlTarget	controlTargets

std::vector< std::string >	jointNames

std::string	kinematicChainName
	variables More...

VirtualRobot::RobotPtr	nonRtRobot

std::atomic_bool	reInitPreActivate = false

RobotUnitPtr	robotUnit

std::atomic_bool	rtFirstRun = true

std::atomic_bool	rtReady = false

SensorDevices	sensorDevices

std::vector< ControlTarget1DoFActuatorTorque * >	targets

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

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...

Detailed Description

Brief description of class NJointTaskspaceAdmittanceController.

Detailed description of class NJointTaskspaceAdmittanceController.

Definition at line 52 of file AdmittanceController.h.

Member Typedef Documentation

◆ AronDTO

using AronDTO = law::arondto::TaskspaceAdmittanceControllerConfig

Definition at line 58 of file AdmittanceController.h.

◆ BO

using BO = law::TaskspaceAdmittanceController::Config

Definition at line 59 of file AdmittanceController.h.

◆ ConfigPtrT

using ConfigPtrT = ConfigurableNJointControllerConfigPtr

Definition at line 57 of file AdmittanceController.h.

Constructor & Destructor Documentation

◆ NJointTaskspaceAdmittanceController()

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

Definition at line 41 of file AdmittanceController.cpp.

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Member Function Documentation

◆ additionalTask()

void additionalTask ( )

protectedvirtual

Reimplemented in NJointTSAdmittanceMPController.

Definition at line 145 of file AdmittanceController.cpp.

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◆ calibrateFTSensor()

void calibrateFTSensor ( const Ice::Current & )

override

Definition at line 262 of file AdmittanceController.cpp.

◆ getClassName()

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

overridevirtual

Implements NJointControllerBase.

Reimplemented in NJointTSAdmittanceMPController.

Definition at line 113 of file AdmittanceController.cpp.

◆ onInitNJointController()

void onInitNJointController ( )

overrideprotectedvirtual

NJointControllerBase interface.

Reimplemented from NJointControllerBase.

Definition at line 124 of file AdmittanceController.cpp.

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◆ onPublish()

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

overrideprotectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 235 of file AdmittanceController.cpp.

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◆ rtPostDeactivateController()

void rtPostDeactivateController ( )

overrideprotectedvirtual

This function is called after the controller is deactivated.

You can use it to deactivate a thread (DO NOT JOIN THREADS!) e.g. via a std::atomic_bool.

Reimplemented from NJointControllerBase.

Definition at line 311 of file AdmittanceController.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.

Reimplemented in NJointTSAdmittanceMPController.

Definition at line 276 of file AdmittanceController.cpp.

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◆ rtRun()

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

overridevirtual

TODO make protected and use attorneys.

Implements SynchronousNJointController.

Definition at line 155 of file AdmittanceController.cpp.

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◆ toggleGravityCompensation()

void toggleGravityCompensation	(	const bool	toggle,
		const Ice::Current &
	)

override

ft sensor

you also need to re-calibrate ft sensor

Definition at line 267 of file AdmittanceController.cpp.

◆ updateConfig()

void updateConfig	(	const ::armarx::aron::data::dto::DictPtr &	dto,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

NJointController interface.

Definition at line 196 of file AdmittanceController.cpp.

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◆ validateConfigData()

void validateConfigData ( BO & config )

Definition at line 211 of file AdmittanceController.cpp.

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Member Data Documentation

◆ bufferRtToAdditionalTask

TripleBuffer<law::RobotStatus> bufferRtToAdditionalTask

protected

Definition at line 109 of file AdmittanceController.h.

◆ bufferUserToAdditionalTask

TripleBuffer<BO> bufferUserToAdditionalTask

protected

set buffers

Definition at line 107 of file AdmittanceController.h.

◆ bufferUserToRt

TripleBuffer<BO> bufferUserToRt

protected

Definition at line 108 of file AdmittanceController.h.

◆ controller

law::TaskspaceAdmittanceController controller

protected

Definition at line 104 of file AdmittanceController.h.

◆ controlTargets

common::control_law::ControlTarget controlTargets

protected

Definition at line 117 of file AdmittanceController.h.

◆ jointNames

std::vector<std::string> jointNames

protected

Definition at line 103 of file AdmittanceController.h.

◆ kinematicChainName

std::string kinematicChainName

protected

variables

Definition at line 102 of file AdmittanceController.h.

◆ nonRtRobot

VirtualRobot::RobotPtr nonRtRobot

protected

Definition at line 115 of file AdmittanceController.h.

◆ reInitPreActivate

std::atomic_bool reInitPreActivate = false

protected

Definition at line 113 of file AdmittanceController.h.

◆ robotUnit

RobotUnitPtr robotUnit

protected

Definition at line 119 of file AdmittanceController.h.

◆ rtFirstRun

std::atomic_bool rtFirstRun = true

protected

Definition at line 111 of file AdmittanceController.h.

◆ rtReady

std::atomic_bool rtReady = false

protected

Definition at line 112 of file AdmittanceController.h.

◆ sensorDevices

SensorDevices sensorDevices

protected

Definition at line 96 of file AdmittanceController.h.

◆ targets

std::vector<ControlTarget1DoFActuatorTorque*> targets

protected

Definition at line 98 of file AdmittanceController.h.

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

armarx/control/njoint_controller/task_space/AdmittanceController.h
armarx/control/njoint_controller/task_space/AdmittanceController.cpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ AronDTO

◆ BO

◆ ConfigPtrT

Constructor & Destructor Documentation

◆ NJointTaskspaceAdmittanceController()

Member Function Documentation

◆ additionalTask()

◆ calibrateFTSensor()

◆ getClassName()

◆ onInitNJointController()

◆ onPublish()

◆ rtPostDeactivateController()

◆ rtPreActivateController()

◆ rtRun()

◆ toggleGravityCompensation()

◆ updateConfig()

◆ validateConfigData()

Member Data Documentation

◆ bufferRtToAdditionalTask

◆ bufferUserToAdditionalTask

◆ bufferUserToRt

◆ controller

◆ controlTargets

◆ jointNames

◆ kinematicChainName

◆ nonRtRobot

◆ reInitPreActivate

◆ robotUnit

◆ rtFirstRun

◆ rtReady

◆ sensorDevices

◆ targets