Brief description of class NJointTaskspaceAdmittanceController. More...

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

Inheritance diagram for NJointTaskspaceAdmittanceController:

Classes
struct	ArmData

Public Types
using	ArmPtr = std::unique_ptr< ArmData >

using	Config = law::TaskspaceAdmittanceController::Config

using	ConfigDict = law::TaskspaceAdmittanceController::ConfigDict

using	ConfigPtrT = ConfigurableNJointControllerConfigPtr

using	RtStatus = law::TaskspaceAdmittanceController::RtStatus

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

void	enableSafeGuardForceTorque (const std::string &nodeSetName, const bool forceGuard, const bool torqueGuard, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

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

::armarx::aron::data::dto::DictPtr	getConfig (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

Ice::FloatSeq	getTCPVel (const std::string &rns, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

bool	isSafeForceTorque (const std::string &nodeSetName, const Ice::Current &iceCurrent=Ice::emptyCurrent) 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...

bool	updateTargetPose (const TargetPoseMap &targetPoseMap, const TargetNullspaceMap &targetNullspaceMap, const Ice::Current &=Ice::emptyCurrent) override

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	enableSafeGuardForceTorque (string rns, bool forceGuard, bool torqueGuard)

Ice::FloatSeq	getTCPVel (string rns)

bool	isSafeForceTorque (string nodeSetName)

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

bool	updateTargetPose (TargetPoseMap targetPoseMap, TargetNullspaceMap targetNullspaceMap)

Protected Member Functions
virtual void	additionalTask ()

void	limbInit (const std::string nodeSetName, ArmPtr &arm, Config &cfg, VirtualRobot::RobotPtr &nonRtRobotPtr)

void	limbNonRT (ArmPtr &arm)

void	limbPublish (ArmPtr &arm, const DebugObserverInterfacePrx &debugObs)

void	limbReInit (ArmPtr &arm)

void	limbRT (ArmPtr &arm, const double deltaT)

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...

void	validateConfigData (Config &config, ArmPtr &arm)

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
std::map< std::string, ArmPtr >	limb

std::string	limbName

VirtualRobot::RobotPtr	nonRtRobot

RobotUnitPtr	robotUnit

ConfigDict	userConfig

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

◆ ArmPtr

using ArmPtr = std::unique_ptr<ArmData>

Definition at line 98 of file AdmittanceController.h.

◆ Config

using Config = law::TaskspaceAdmittanceController::Config

Definition at line 58 of file AdmittanceController.h.

◆ ConfigDict

using ConfigDict = law::TaskspaceAdmittanceController::ConfigDict

Definition at line 59 of file AdmittanceController.h.

◆ ConfigPtrT

using ConfigPtrT = ConfigurableNJointControllerConfigPtr

Definition at line 57 of file AdmittanceController.h.

◆ RtStatus

using RtStatus = law::TaskspaceAdmittanceController::RtStatus

Definition at line 60 of file AdmittanceController.h.

Constructor & Destructor Documentation

◆ NJointTaskspaceAdmittanceController()

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

Definition at line 98 of file AdmittanceController.cpp.

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Member Function Documentation

◆ additionalTask()

void additionalTask ( )

protectedvirtual

Reimplemented in NJointTSAdmittanceMPController.

Definition at line 162 of file AdmittanceController.cpp.

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◆ calibrateFTSensor()

void calibrateFTSensor ( const Ice::Current & )

override

Definition at line 431 of file AdmittanceController.cpp.

◆ enableSafeGuardForceTorque()

void enableSafeGuardForceTorque	(	const std::string &	nodeSetName,
		const bool	forceGuard,
		const bool	torqueGuard,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 267 of file AdmittanceController.cpp.

◆ getClassName()

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

overridevirtual

Implements NJointControllerBase.

Reimplemented in NJointTSAdmittanceMPController.

Definition at line 122 of file AdmittanceController.cpp.

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◆ getConfig()

armarx::aron::data::dto::DictPtr getConfig ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 341 of file AdmittanceController.cpp.

◆ getTCPVel()

Ice::FloatSeq getTCPVel	(	const std::string &	rns,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 240 of file AdmittanceController.cpp.

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◆ isSafeForceTorque()

bool isSafeForceTorque	(	const std::string &	nodeSetName,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 292 of file AdmittanceController.cpp.

◆ limbInit()

void limbInit	(	const std::string	nodeSetName,
		ArmPtr &	arm,
		Config &	cfg,
		VirtualRobot::RobotPtr &	nonRtRobotPtr
	)

protected

Definition at line 40 of file AdmittanceController.cpp.

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◆ limbNonRT()

void limbNonRT ( ArmPtr & arm )

protected

Definition at line 154 of file AdmittanceController.cpp.

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◆ limbPublish()

void limbPublish	(	ArmPtr &	arm,
		const DebugObserverInterfacePrx &	debugObs
	)

protected

Definition at line 395 of file AdmittanceController.cpp.

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◆ limbReInit()

void limbReInit ( ArmPtr & arm )

protected

Definition at line 450 of file AdmittanceController.cpp.

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◆ limbRT()

void limbRT	(	ArmPtr &	arm,
		const double	deltaT
	)

protected

Definition at line 172 of file AdmittanceController.cpp.

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◆ onInitNJointController()

void onInitNJointController ( )

overrideprotectedvirtual

NJointControllerBase interface.

Reimplemented from NJointControllerBase.

Definition at line 128 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 420 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 531 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.

Definition at line 520 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 229 of file AdmittanceController.cpp.

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◆ toggleGravityCompensation()

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

override

ft sensor

Definition at line 440 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 254 of file AdmittanceController.cpp.

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◆ updateTargetPose()

bool updateTargetPose	(	const TargetPoseMap &	targetPoseMap,
		const TargetNullspaceMap &	targetNullspaceMap,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 309 of file AdmittanceController.cpp.

◆ validateConfigData()

void validateConfigData	(	Config &	config,
		ArmPtr &	arm
	)

protected

Definition at line 352 of file AdmittanceController.cpp.

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Member Data Documentation

◆ limb

std::map<std::string, ArmPtr> limb

protected

Definition at line 149 of file AdmittanceController.h.

◆ limbName

std::string limbName

protected

Definition at line 150 of file AdmittanceController.h.

◆ nonRtRobot

VirtualRobot::RobotPtr nonRtRobot

protected

Definition at line 151 of file AdmittanceController.h.

◆ robotUnit

RobotUnitPtr robotUnit

protected

Definition at line 152 of file AdmittanceController.h.

◆ userConfig

ConfigDict userConfig

protected

Definition at line 153 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

◆ ArmPtr

◆ Config

◆ ConfigDict

◆ ConfigPtrT

◆ RtStatus

Constructor & Destructor Documentation

◆ NJointTaskspaceAdmittanceController()

Member Function Documentation

◆ additionalTask()

◆ calibrateFTSensor()

◆ enableSafeGuardForceTorque()

◆ getClassName()

◆ getConfig()

◆ getTCPVel()

◆ isSafeForceTorque()

◆ limbInit()

◆ limbNonRT()

◆ limbPublish()

◆ limbReInit()

◆ limbRT()

◆ onInitNJointController()

◆ onPublish()

◆ rtPostDeactivateController()

◆ rtPreActivateController()

◆ rtRun()

◆ toggleGravityCompensation()

◆ updateConfig()

◆ updateTargetPose()

◆ validateConfigData()

Member Data Documentation

◆ limb

◆ limbName

◆ nonRtRobot

◆ robotUnit

◆ userConfig