Brief description of class KeypointMPController. More...

#include <armarx/control/njoint_mp_controller/task_space/KeypointsMPController.h>

Inheritance diagram for KeypointMPController:

Public Types
using	ConfigPtrT = KeypointMPControllerConfigPtr

using	VMPPtr = std::shared_ptr< mplib::representation::vmp::PrincipalComponentVMP >

Public Types inherited from NJointControllerWithTripleBuffer< law::TaskspaceKeypointsAdmittanceController::Config >
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
void	calibrateFTSensor (const Ice::Current &) override

Ice::DoubleSeq	deserialize (const std::string &mpAsString, const Ice::Current &) override

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

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

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

bool	getMPEnabled (const Ice::Current &) override

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

bool	isFinished (const Ice::Current &) override

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

void	learnFromCSV (const Ice::StringSeq &, const Ice::Current &) override

void	pause (const Ice::Current &) override

void	reconfigureController (const std::string &, const Ice::Current &) override

void	removeAllViaPoint (const Ice::Current &) override

void	reset (const Ice::Current &) override

void	resetKeypoints (const int n_points, const float keypoint_stiffness, const bool is_rigid, const Eigen::VectorXf &ctrl_mask, const Eigen::VectorXf &init_keypoints_position, const Ice::Current &) override

void	resume (const Ice::Current &) override

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

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

void	setControlParameters (const std::string &, const Eigen::VectorXf &, const Ice::Current &) override
	set control parameter More...

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

void	setGoal (const Ice::DoubleSeq &, const Ice::Current &) override

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

void	setStartAndGoal (const Ice::DoubleSeq &, const Ice::DoubleSeq &, const Ice::Current &) override

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

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

void	setTCPPose (const Eigen::Matrix4f &, const Ice::Current &) override

void	setViaPoint (Ice::Double, const Ice::DoubleSeq &, const Ice::Current &) override

void	start (const Ice::DoubleSeq &, const Ice::Current &) override

void	startAsTraj (const Ice::Current &) override

void	startAsTrajWithTime (Ice::Double, const Ice::Current &) override

void	startWithTime (const Ice::DoubleSeq &, Ice::Double, const Ice::Current &) override

void	stop (const Ice::Current &) override

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

void	toggleMP (const bool enableMP, const Ice::Current &) override

Public Member Functions inherited from NJointControllerWithTripleBuffer< law::TaskspaceKeypointsAdmittanceController::Config >
	NJointControllerWithTripleBuffer (const law::TaskspaceKeypointsAdmittanceController::Config &initialCommands=law::TaskspaceKeypointsAdmittanceController::Config())

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 ()

Protected Member Functions
void	onInitNJointController () override

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

void	publishPose (StringVariantBaseMap &datafields, const std::string &name, const Eigen::Matrix4f &pose)

void	publishVec6f (StringVariantBaseMap &datafields, const std::string &name, const Eigen::Vector6f &vec)

void	publishVecXf (StringVariantBaseMap &datafields, const std::string &name, const Eigen::Vector6f &vec)

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

Protected Member Functions inherited from NJointControllerWithTripleBuffer< law::TaskspaceKeypointsAdmittanceController::Config >
law::TaskspaceKeypointsAdmittanceController::Config &	getWriterControlStruct ()

void	reinitTripleBuffer (const law::TaskspaceKeypointsAdmittanceController::Config &initial)

const law::TaskspaceKeypointsAdmittanceController::Config &	rtGetControlStruct () const

bool	rtUpdateControlStruct ()

void	setControlStruct (const law::TaskspaceKeypointsAdmittanceController::Config &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

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 &)

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< law::TaskspaceKeypointsAdmittanceController::Config >
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

Brief description of class KeypointMPController.

Detailed description of class KeypointMPController.

Definition at line 60 of file KeypointsMPController.h.

Member Typedef Documentation

◆ ConfigPtrT

using ConfigPtrT = KeypointMPControllerConfigPtr

Definition at line 65 of file KeypointsMPController.h.

◆ VMPPtr

using VMPPtr = std::shared_ptr<mplib::representation::vmp::PrincipalComponentVMP>

Definition at line 66 of file KeypointsMPController.h.

Constructor & Destructor Documentation

◆ KeypointMPController()

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

mp related

buffer related

Definition at line 42 of file KeypointsMPController.cpp.

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Member Function Documentation

◆ calibrateFTSensor()

void calibrateFTSensor ( const Ice::Current & )

override

Definition at line 546 of file KeypointsMPController.cpp.

◆ deserialize()

Ice::DoubleSeq deserialize	(	const std::string &	mpAsString,
		const Ice::Current &
	)

override

Definition at line 666 of file KeypointsMPController.cpp.

◆ getCanVal()

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

override

Definition at line 681 of file KeypointsMPController.cpp.

◆ getClassName()

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

overridevirtual

Implements NJointControllerBase.

Definition at line 177 of file KeypointsMPController.cpp.

◆ getKinematicChainName()

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

override

Definition at line 182 of file KeypointsMPController.cpp.

◆ getMPEnabled()

bool getMPEnabled ( const Ice::Current & )

override

Definition at line 284 of file KeypointsMPController.cpp.

◆ getNames()

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

override

Definition at line 551 of file KeypointsMPController.cpp.

◆ isFinished()

bool isFinished ( const Ice::Current & )

override

Definition at line 605 of file KeypointsMPController.cpp.

◆ learnFromCSV()

void learnFromCSV	(	const Ice::StringSeq &	fileList,
		const Ice::Current &
	)

override

Definition at line 610 of file KeypointsMPController.cpp.

◆ onInitNJointController()

void onInitNJointController ( )

overrideprotectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 723 of file KeypointsMPController.cpp.

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◆ onPublish()

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

overrideprotectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 357 of file KeypointsMPController.cpp.

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◆ pause()

void pause ( const Ice::Current & )

override

Definition at line 586 of file KeypointsMPController.cpp.

◆ publishPose()

void publishPose	(	StringVariantBaseMap &	datafields,
		const std::string &	name,
		const Eigen::Matrix4f &	pose
	)

protected

Definition at line 331 of file KeypointsMPController.cpp.

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◆ publishVec6f()

void publishVec6f	(	StringVariantBaseMap &	datafields,
		const std::string &	name,
		const Eigen::Vector6f &	vec
	)

protected

Definition at line 339 of file KeypointsMPController.cpp.

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◆ publishVecXf()

void publishVecXf	(	StringVariantBaseMap &	datafields,
		const std::string &	name,
		const Eigen::Vector6f &	vec
	)

protected

Definition at line 349 of file KeypointsMPController.cpp.

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◆ reconfigureController()

void reconfigureController	(	const std::string &	,
		const Ice::Current &
	)

override

Definition at line 326 of file KeypointsMPController.cpp.

◆ removeAllViaPoint()

void removeAllViaPoint ( const Ice::Current & )

override

Definition at line 652 of file KeypointsMPController.cpp.

◆ reset()

void reset ( const Ice::Current & )

override

Definition at line 596 of file KeypointsMPController.cpp.

◆ resetKeypoints()

void resetKeypoints	(	const int	n_points,
		const float	keypoint_stiffness,
		const bool	is_rigid,
		const Eigen::VectorXf &	ctrl_mask,
		const Eigen::VectorXf &	init_keypoints_position,
		const Ice::Current &
	)

override

Definition at line 749 of file KeypointsMPController.cpp.

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◆ resume()

void resume ( const Ice::Current & )

override

Definition at line 591 of file KeypointsMPController.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 693 of file KeypointsMPController.cpp.

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◆ rtRun()

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

overridevirtual

TODO make protected and use attorneys.

for mp controllers you can commit the status buffer now

write torque target to joint device

for debug output

Implements SynchronousNJointController.

Definition at line 187 of file KeypointsMPController.cpp.

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◆ serialize()

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

override

Definition at line 657 of file KeypointsMPController.cpp.

◆ setControlParameters()

void setControlParameters	(	const std::string &	name,
		const Eigen::VectorXf &	value,
		const Ice::Current &
	)

override

set control parameter

Definition at line 480 of file KeypointsMPController.cpp.

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◆ setForceTorqueBaseline()

void setForceTorqueBaseline	(	const Eigen::Vector3f &	forceBaseline,
		const Eigen::Vector3f &	torqueBaseline,
		const Ice::Current &
	)

override

Definition at line 525 of file KeypointsMPController.cpp.

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◆ setGoal()

void setGoal	(	const Ice::DoubleSeq &	,
		const Ice::Current &
	)

override

Definition at line 637 of file KeypointsMPController.cpp.

◆ setKeypoints()

void setKeypoints	(	const Eigen::VectorXf &	keypointPosition,
		const Ice::Current &
	)

override

Definition at line 741 of file KeypointsMPController.cpp.

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◆ setStartAndGoal()

void setStartAndGoal	(	const Ice::DoubleSeq &	,
		const Ice::DoubleSeq &	,
		const Ice::Current &
	)

override

Definition at line 642 of file KeypointsMPController.cpp.

◆ setTCPCoMInFTFrame()

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

override

Definition at line 539 of file KeypointsMPController.cpp.

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◆ setTCPMass()

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

override

Definition at line 532 of file KeypointsMPController.cpp.

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◆ setTCPPose()

void setTCPPose	(	const Eigen::Matrix4f &	pose,
		const Ice::Current &
	)

override

Definition at line 466 of file KeypointsMPController.cpp.

◆ setViaPoint()

void setViaPoint	(	Ice::Double	,
		const Ice::DoubleSeq &	,
		const Ice::Current &
	)

override

Definition at line 647 of file KeypointsMPController.cpp.

◆ start()

void start	(	const Ice::DoubleSeq &	goal,
		const Ice::Current &
	)

override

Definition at line 556 of file KeypointsMPController.cpp.

◆ startAsTraj()

void startAsTraj ( const Ice::Current & )

override

Definition at line 570 of file KeypointsMPController.cpp.

◆ startAsTrajWithTime()

void startAsTrajWithTime	(	Ice::Double	duration,
		const Ice::Current &
	)

override

Definition at line 576 of file KeypointsMPController.cpp.

◆ startWithTime()

void startWithTime	(	const Ice::DoubleSeq &	goal,
		Ice::Double	duration,
		const Ice::Current &
	)

override

Definition at line 562 of file KeypointsMPController.cpp.

◆ stop()

void stop ( const Ice::Current & )

override

Definition at line 581 of file KeypointsMPController.cpp.

◆ toggleGravityCompensation()

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

override

ft sensor

you also need to re-calibrate ft sensor

Definition at line 686 of file KeypointsMPController.cpp.

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◆ toggleMP()

void toggleMP	(	const bool	enableMP,
		const Ice::Current &
	)

override

Definition at line 278 of file KeypointsMPController.cpp.

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

armarx/control/njoint_mp_controller/task_space/KeypointsMPController.h
armarx/control/njoint_mp_controller/task_space/KeypointsMPController.cpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConfigPtrT

◆ VMPPtr

Constructor & Destructor Documentation

◆ KeypointMPController()

Member Function Documentation

◆ calibrateFTSensor()

◆ deserialize()

◆ getCanVal()

◆ getClassName()

◆ getKinematicChainName()

◆ getMPEnabled()

◆ getNames()

◆ isFinished()

◆ learnFromCSV()

◆ onInitNJointController()

◆ onPublish()

◆ pause()

◆ publishPose()

◆ publishVec6f()

◆ publishVecXf()

◆ reconfigureController()

◆ removeAllViaPoint()

◆ reset()

◆ resetKeypoints()

◆ resume()

◆ rtPreActivateController()

◆ rtRun()

◆ serialize()

◆ setControlParameters()

◆ setForceTorqueBaseline()

◆ setGoal()

◆ setKeypoints()

◆ setStartAndGoal()

◆ setTCPCoMInFTFrame()

◆ setTCPMass()

◆ setTCPPose()

◆ setViaPoint()

◆ start()

◆ startAsTraj()

◆ startAsTrajWithTime()

◆ startWithTime()

◆ stop()

◆ toggleGravityCompensation()

◆ toggleMP()