NJointTSVelocityMPController Class Reference
Brief description of class NJointTSVelocityMPController. More...
#include <armarx/control/njoint_mp_controller/task_space/VelocityController.h>
Inheritance diagram for NJointTSVelocityMPController:Public Types | |
| using | MPListConfig = common::mp::arondto::MPListConfig |
| Public Types inherited from NJointTaskspaceVelocityController | |
| using | ArmPtr = std::unique_ptr< ArmData > |
| using | Config = law::TaskspaceVelocityController::Config |
| using | ConfigDict = law::TaskspaceVelocityController::ConfigDict |
| using | ConfigPtrT = ConfigurableNJointControllerConfigPtr |
| using | RtStatus = law::TaskspaceVelocityController::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 | additionalTask () override |
| std::string | getClassName (const Ice::Current &=Ice::emptyCurrent) const override |
| NJointTSVelocityMPController (const RobotUnitPtr &robotUnit, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &) | |
| void | updateMPConfig (const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| Public Member Functions inherited from NJointTaskspaceVelocityController | |
| void | calibrateFTSensor (const Ice::Current &) override |
| ft sensor More... | |
| void | enableSafeGuardForceTorque (const std::string &nodeSetName, const bool forceGuard, const bool torqueGuard, const Ice::Current &iceCurrent=Ice::emptyCurrent) 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 |
| -----------------------------— Other interaces ----------------------------------------— More... | |
| NJointTaskspaceVelocityController (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 | 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 NJointTaskspaceVelocityControllerInterface | |
| void | calibrateFTSensor () |
| ft sensor More... | |
| void | enableSafeGuardForceTorque (string rns, bool forceGuard, bool torqueGuard) |
| Ice::FloatSeq | getTCPVel (string rns) |
| bool | isSafeForceTorque (string nodeSetName) |
| bool | updateTargetPose (TargetPoseMap targetPoseMap, TargetNullspaceMap targetNullspaceMap) |
| Public Member Functions inherited from MPPool | |
| void | createMPs (const MPListConfig &mpListConfig) |
| DVec | deserialize (const std::string &, const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| Ice::Double | getCanVal (const std::string &mpName, const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| ::armarx::aron::data::dto::DictPtr | getMPConfig (const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| config More... | |
| bool | getMPEnabled (const Ice::Current &) override |
| std::string | getNames (const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| Interface functions. More... | |
| bool | isFinished (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| bool | isFinishedAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | learnFromCSV (const Ice::StringSeq &fileNames=std::vector< std::string >(), const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| setting More... | |
| void | learnFromTrajs (const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| MPPool () | |
| void | pause (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | pauseAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | reconfigureMPs (const MPListConfig &mpListConfig) |
| void | removeAllViaPoint (const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | reset (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | resetAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| bool | resetMPs (const ::armarx::aron::data::dto::DictPtr &dto, const std::map< std::string, VirtualRobot::RobotNodeSetPtr > &rnsMap) |
| void | resume (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | resumeAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | runMPs (const bool rtSafe) |
| std::string | serialize (const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| serialize More... | |
| void | set (const ::armarx::StringDoubleSeqMap &, const ::armarx::StringDoubleSeqMap &, const ::armarx::StringDoubleMap &, const ::Ice::Current &iceCurrent=::Ice::emptyCurrent) override |
| void | setGoal (const DVec &goals, const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | setStartAndGoal (const DVec &starts, const DVec &goals, const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | setViaPoint (Ice::Double u, const DVec &viapoint, const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | start (const std::string &mpName="all", const DVec &startVec=std::vector< double >(), const DVec &goalVec=std::vector< double >(), Ice::Double timeDuration=-1.0, const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| control More... | |
| void | startAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | stop (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | stopAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | trainMP (const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| void | updateMPConfig (const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| ~MPPool () | |
| Public Member Functions inherited from MPPoolInterface | |
| Ice::DoubleSeq | deserialize (string mpAsString) |
| double | getCanVal (string mpName) |
| utilities More... | |
| armarx::aron::data::dto::Dict | getMPConfig () |
| bool | getMPEnabled () |
| string | getNames () |
| bool | isFinished (string mpName) |
| bool | isFinishedAll () |
| void | learnFromCSV (Ice::StringSeq fileNames) |
| setting More... | |
| void | learnFromTrajs (armarx::aron::data::dto::Dict config) |
| void | pause (string mpName) |
| void | pauseAll () |
| void | removeAllViaPoint () |
| void | reset (string mpName) |
| void | resetAll () |
| void | resume (string mpName) |
| void | resumeAll () |
| string | serialize () |
| serialze More... | |
| void | set (StringDoubleSeqMap startVec, StringDoubleSeqMap goalVec, StringDoubleMap durationSec) |
| control More... | |
| void | setGoal (Ice::DoubleSeq goals) |
| void | setStartAndGoal (Ice::DoubleSeq starts, Ice::DoubleSeq goals) |
| void | setViaPoint (double u, Ice::DoubleSeq viapoint) |
| void | start (string mpName, Ice::DoubleSeq startVec, Ice::DoubleSeq goalVec, double durationSec) |
| void | startAll () |
| void | stop (string mpName) |
| void | stopAll () |
| void | trainMP () |
| void | updateMPConfig (armarx::aron::data::dto::Dict config) |
| config More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from NJointTaskspaceVelocityController | |
| static WidgetDescription::WidgetPtr | GenerateConfigDescription (const VirtualRobot::RobotPtr &, const std::map< std::string, ConstControlDevicePtr > &, const std::map< std::string, ConstSensorDevicePtr > &) |
| --------------------------------— GUI Widget ------------------------------------------— More... | |
| static ConfigPtrT | GenerateConfigFromVariants (const StringVariantBaseMap &values) |
| 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 Member Functions inherited from NJointTaskspaceVelocityController | |
| void | additionalTaskSetTarget () |
| bool | additionalTaskUpdateStatus () |
| void | handleRTNotSafeInNonRT () |
| 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 | limbRTSetTarget (ArmPtr &arm, const Eigen::VectorXf &targetVelocity) |
| void | limbRTUpdateStatus (ArmPtr &arm, const double deltaT) |
| -----------------------------— Real time cotnrol --------------------------------------— More... | |
| 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 Member Functions inherited from MPPool | |
| void | reInitMPInputOutputData (const std::map< std::string, VirtualRobot::RobotNodeSetPtr > &rnsMap) |
| Protected Attributes inherited from NJointTaskspaceVelocityController | |
| std::map< std::string, VirtualRobot::RobotNodeSetPtr > | controllableNodeSets |
| core::HandControlPtr | hands = nullptr |
| std::map< std::string, ArmPtr > | limb |
| 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 |
| Protected Attributes inherited from MPPool | |
| std::atomic< bool > | isMPReady {false} |
| MPListConfig | mpConfig |
| this variable is only needed when constructing the MP instances, therefore you don't need to use triple buffers More... | |
| std::map< std::string, MPInputOutput > | mps |
| std::atomic_bool | mpTaskRunning {false} |
| std::recursive_mutex | mtx_mps |
Detailed Description
Brief description of class NJointTSVelocityMPController.
Detailed description of class NJointTSVelocityMPController.
Definition at line 47 of file VelocityController.h.
Member Typedef Documentation
◆ MPListConfig
| using MPListConfig = common::mp::arondto::MPListConfig |
Definition at line 53 of file VelocityController.h.
Constructor & Destructor Documentation
◆ NJointTSVelocityMPController()
| NJointTSVelocityMPController | ( | const RobotUnitPtr & | robotUnit, |
| const NJointControllerConfigPtr & | config, | ||
| const VirtualRobot::RobotPtr & | robot | ||
| ) |
Definition at line 32 of file VelocityController.cpp.
Member Function Documentation
◆ additionalTask()
|
overridevirtual |
Here we check if the TSMP start pose is too far away from the current pose, if so, we would prefer to reset the mp start from the current pose.
set mp target to nonRT config data structure
Note that here we only report warning but still set target to RT, we rely on MP phase stop and RT safety mechanism to stop or pause the action if needed
Reimplemented from NJointTaskspaceVelocityController.
Definition at line 62 of file VelocityController.cpp.
Here is the call graph for this function:◆ getClassName()
|
overridevirtual |
Reimplemented from NJointTaskspaceVelocityController.
Definition at line 42 of file VelocityController.cpp.
◆ updateMPConfig()
|
override |
The documentation for this class was generated from the following files:
- armarx/control/njoint_mp_controller/task_space/VelocityController.h
- armarx/control/njoint_mp_controller/task_space/VelocityController.cpp
