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NJointTaskspaceController< NJointTaskspaceControllerType > Class Template Referenceabstract
Brief description of class NJointTaskspaceController. More...
#include <armarx/control/njoint_controller/task_space/Base.h>
Inheritance diagram for NJointTaskspaceController< NJointTaskspaceControllerType >:Classes | |
| struct | ArmData |
Public Types | |
| using | ArmPtr = std::unique_ptr<ArmData> |
| using | Config = typename NJointTaskspaceControllerType::Config |
| using | ConfigDict = typename NJointTaskspaceControllerType::ConfigDict |
| using | ConfigPtrT = ConfigurableNJointControllerConfigPtr |
| using | ControlType = NJointTaskspaceControllerType |
| using | PoseFrameMode = armarx::control::common::arondto::PoseFrameMode |
| using | RtStatus = armarx::control::common::control_law::TSCtrlRtStatus |
| Public Types inherited from NJointControllerBase | |
| using | ConfigPtrT = NJointControllerConfigPtr |
| using | GenerateConfigDescriptionFunctionSignature |
| template<class ConfigPrtType> | |
| using | GenerateConfigFromVariantsFunctionSignature |
| Public Types inherited from ManagedIceObject | |
| using | PeriodicTaskPtr = IceUtil::Handle<SimplePeriodicTask<std::function<void(void)>>> |
Public Member Functions | |
| void | calibrateFTSensor (const Ice::Current &) override |
| ft sensor | |
| void | createLimbs () |
| void | disableCoordinator (const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| 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::DoubleSeq | getCurrentTCPPose (const std::string &nodeSetName, const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| ::armarx::aron::data::dto::DictPtr | getRTStatus (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 ----------------------------------------— | |
| NJointTaskspaceController (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. | |
| void | updateConfig (const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| NJointController interface. | |
| bool | updateTargetPose (const TargetPoseMap &targetPoseMap, const TargetNullspaceMap &targetNullspaceMap, const Ice::Current &=Ice::emptyCurrent) override |
| void | useCoordinator (const std::string &type, const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override |
| bool | wasNotSafeForceTorque (const std::string &nodeSetName, const Ice::Current &iceCurrent=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) 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) override |
| void | deleteController (const Ice::Current &=Ice::emptyCurrent) final override |
| std::string | getClassName (const Ice::Current &=Ice::emptyCurrent) const override=0 |
| 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. | |
| ConstSensorDevicePtr | peekSensorDevice (const std::string &deviceName) const |
| Get a const ptr to the given SensorDevice. | |
| const std::string & | rtGetClassName () const |
| Returns the class name. | |
| const std::vector< std::size_t > & | rtGetControlDeviceUsedIndices () const |
| Returns the indices of all ControlDevice's this NJointControllerBase calculates a ControlTarget for. | |
| bool | rtGetErrorState () const |
| Sets the error state to true. | |
| const std::string & | rtGetInstanceName () const |
| Returns the instance name. | |
| std::size_t | rtGetNumberOfUsedControlDevices () const |
| Returns the number of used ControlDevices. | |
| const VirtualRobot::RobotPtr & | rtGetRobot () |
| TODO make protected and use attorneys. | |
| const std::vector< VirtualRobot::RobotNodePtr > & | rtGetRobotNodes () |
| Returns the nodes of the virtual robot used by this NJointControllerBase in the rtRun. | |
| bool | rtUsesControlDevice (std::size_t deviceIndex) const |
| Returns whether this NJointControllerBase calculates a ControlTarget for the given ControlDevice. | |
| 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. | |
| 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. | |
| template<class T> | |
| const T * | useSensorValue (const std::string &deviceName) const |
| Get a const ptr to the given SensorDevice's SensorValue. | |
| const SensorValueBase * | useSensorValue (const std::string &sensorDeviceName) const |
| Get a const ptr to the given SensorDevice's SensorValue. | |
| const VirtualRobot::RobotPtr & | useSynchronizedRtRobot (bool updateCollisionModel=false) |
| Requests a VirtualRobot for use in rtRun *. | |
| ~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) | |
| std::string | generateSubObjectName (const std::string &subObjectName) |
| Generates a unique name for a sub object from a general name. | |
| ArmarXManagerPtr | getArmarXManager () const |
| Returns the ArmarX manager used to add and remove components. | |
| ManagedIceObjectConnectivity | getConnectivity () const |
| Retrieve connectivity of the object (topcis as well as proxies) | |
| IceManagerPtr | getIceManager () const |
| Returns the IceManager. | |
| VariantBasePtr | getMetaInfo (const std::string &id) |
| StringVariantBaseMap | getMetaInfoMap () const |
| std::string | getName () const |
| Retrieve name of object. | |
| Ice::ObjectAdapterPtr | getObjectAdapter () const |
| Returns object's Ice adapter. | |
| ArmarXObjectSchedulerPtr | getObjectScheduler () const |
| PeriodicTaskPtr | getPeriodicTask (const std::string &name) |
| Profiler::ProfilerPtr | getProfiler () const |
| getProfiler returns an instance of armarx::Profiler | |
| 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. | |
| 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. | |
| Ice::ObjectPrx | getProxy (long timeoutMs=0, bool waitForScheduler=true) const |
| Returns the proxy of this object (optionally it waits for the proxy) | |
| 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). | |
| template<class Prx> | |
| void | getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const |
| int | getState () const |
| Retrieve current state of the ManagedIceObject. | |
| template<class TopicProxyType> | |
| TopicProxyType | getTopic (const std::string &name) |
| Returns a proxy of the specified topic. | |
| template<class TopicProxyType> | |
| void | getTopic (TopicProxyType &topicProxy, const std::string &name) |
Assigns a proxy of the specified topic to topicProxy. | |
| std::vector< std::string > | getUnresolvedDependencies () const |
| returns the names of all unresolved dependencies | |
| ManagedIceObject (ManagedIceObject const &other) | |
| void | offeringTopic (const std::string &name) |
| Registers a topic for retrival after initialization. | |
| 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. | |
| 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. | |
| bool | usingProxy (const std::string &name, const std::string &endpoints="") |
| Registers a proxy for retrieval after initialization and adds it to the dependency list. | |
| void | usingTopic (const std::string &name, bool orderedPublishing=false) |
| Registers a proxy for subscription after initialization. | |
| void | waitForObjectScheduler () |
| Waits until the ObjectScheduler could resolve all dependencies. | |
| 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. | |
| MessageTypeT | getEffectiveLoggingLevel () const |
| Logging () | |
| void | setLocalMinimumLoggingLevel (MessageTypeT level) |
| With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. | |
| void | setTag (const LogTag &tag) |
| void | setTag (const std::string &tagName) |
| virtual | ~Logging () |
| Public Member Functions inherited from TSCtrlInterface | |
| void | calibrateFTSensor () |
| ft sensor | |
| void | disableCoordinator () |
| void | enableSafeGuardForceTorque (string rns, bool forceGuard, bool torqueGuard) |
| Ice::DoubleSeq | getCurrentTCPPose (string nodeSetName) |
| armarx::aron::data::dto::Dict | getRTStatus () |
| Ice::FloatSeq | getTCPVel (string rns) |
| bool | isSafeForceTorque (string nodeSetName) |
| bool | updateTargetPose (TargetPoseMap targetPoseMap, TargetNullspaceMap targetNullspaceMap) |
| void | useCoordinator (string type, armarx::aron::data::dto::Dict dto) |
| bool | wasNotSafeForceTorque (string nodeSetName) |
| Public Member Functions inherited from ArVizComponentPluginUser | |
| ArVizComponentPluginUser () | |
| armarx::viz::Client | createArVizClient () |
| armarx::viz::Client & | getArvizClient () |
Static Public Member Functions | |
| static WidgetDescription::WidgetPtr | GenerateConfigDescription (const VirtualRobot::RobotPtr &, const std::map< std::string, ConstControlDevicePtr > &, const std::map< std::string, ConstSensorDevicePtr > &) |
| --------------------------------— GUI Widget ------------------------------------------— | |
| 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. | |
| static std::string | GetObjectStateAsString (int state) |
Protected Member Functions | |
| void | activateController (const Ice::Current ¤t=Ice::emptyCurrent) final |
| NJointControllerBase interface. | |
| virtual void | additionalTask () |
| void | additionalTaskSetTarget () |
| std::tuple< bool, bool > | additionalTaskUpdateStatus () |
| virtual void | collectArviz (viz::StagedCommit &stage) const |
| void | commitArviz () |
| void | deactivateController (const Ice::Current ¤t=Ice::emptyCurrent) final |
| 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) |
| virtual void | limbPublishConfig (StringVariantBaseMap &datafields, ArmPtr &arm)=0 |
| void | limbReInit (ArmPtr &arm) |
| void | limbRT (ArmPtr &arm, const double deltaT) |
| void | limbRTSetTarget (ArmPtr &arm, const size_t nDoFTorque, const size_t nDoFVelocity, const Eigen::VectorXf &targetTorque, const Eigen::VectorXf &targetVelocity) |
| void | limbRTUpdateStatus (ArmPtr &arm, const double deltaT) |
| -----------------------------— Real time cotnrol --------------------------------------— | |
| void | onInitNJointController () override |
| void | onPublish (const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &) override |
| void | onPublishCoordinator (const DebugObserverInterfacePrx &debugObs) |
| bool | rtGetDesiredPoseSafeStatus () |
| bool | rtGetDesiredPoseSafeStatusOnActivation () |
| void | rtPostDeactivateController () override |
| This function is called after the controller is deactivated. | |
| void | rtPreActivateController () override |
| This function is called before the controller is activated. | |
| void | rtRunCoordinator (double deltaT) |
| coordinator | |
| void | updateInputData (const std::string &key, const Eigen::Matrix4f &targetPose, const PoseFrameMode &targetPoseMode, const Eigen::Matrix4f &pose, const Eigen::Vector6f &vel, const Eigen::Vector6f &ft, const Eigen::Vector6f &stiffness) |
| some method for coordinator | |
| void | validateConfigData (Config &config, ArmPtr &arm) |
| virtual void | validateConfigDataCheckSize (Config &configData, ArmPtr &arm)=0 |
| 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. | |
| template<typename Task> | |
| void | runTask (const std::string &taskName, Task &&task) |
| Executes a given task in a separate thread from the Application ThreadPool. | |
| 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. | |
| 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. | |
| void | setName (std::string name) |
| Override name of well-known object. | |
| void | terminate () |
| Initiates termination of this IceManagedObject. | |
| ~ManagedIceObject () override | |
| Protected Member Functions inherited from Logging | |
| bool | checkLogLevel (MessageTypeT level) const |
| const LogSenderPtr & | getLogSender () const |
| Retrieve log sender. | |
| LogSenderPtr | loghelper (const char *file, int line, const char *function) const |
Protected Attributes | |
| std::map< std::string, VirtualRobot::RobotNodeSetPtr > | controllableNodeSets |
| std::shared_ptr< common::coordination::SyncCoordination > | coordinator = nullptr |
| std::atomic_bool | coordinatorEnabled = false |
| coordinator | |
| std::map< std::string, common::coordination::InputData > | coordinatorInputData |
| core::HandControlPtr | hands = nullptr |
| std::map< std::string, ArmPtr > | limb |
| VirtualRobot::RobotPtr | nonRtRobot |
| RobotUnitPtr | robotUnit |
| std::optional< viz::ScopedClient > | scopedArviz = std::nullopt |
| 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 | |
| Public Attributes inherited from ArVizComponentPluginUser | |
| armarx::viz::Client | arviz |
| 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. | |
Detailed Description
template<typename NJointTaskspaceControllerType>
class armarx::control::njoint_controller::task_space::NJointTaskspaceController< NJointTaskspaceControllerType >
class armarx::control::njoint_controller::task_space::NJointTaskspaceController< NJointTaskspaceControllerType >
Brief description of class NJointTaskspaceController.
Detailed description of class NJointTaskspaceController.
Member Typedef Documentation
◆ ArmPtr
◆ Config
template<typename NJointTaskspaceControllerType>
| using Config = typename NJointTaskspaceControllerType::Config |
◆ ConfigDict
template<typename NJointTaskspaceControllerType>
| using ConfigDict = typename NJointTaskspaceControllerType::ConfigDict |
◆ ConfigPtrT
template<typename NJointTaskspaceControllerType>
| using ConfigPtrT = ConfigurableNJointControllerConfigPtr |
◆ ControlType
template<typename NJointTaskspaceControllerType>
| using ControlType = NJointTaskspaceControllerType |
◆ PoseFrameMode
template<typename NJointTaskspaceControllerType>
| using PoseFrameMode = armarx::control::common::arondto::PoseFrameMode |
◆ RtStatus
template<typename NJointTaskspaceControllerType>
| using RtStatus = armarx::control::common::control_law::TSCtrlRtStatus |
Constructor & Destructor Documentation
◆ NJointTaskspaceController()
template<typename NJointTaskspaceControllerType>
| NJointTaskspaceController | ( | const RobotUnitPtr & | robotUnit, |
| const NJointControllerConfigPtr & | config, | ||
| const VirtualRobot::RobotPtr & | ) |
Member Function Documentation
◆ activateController()
template<typename NJointTaskspaceControllerType>
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finalprotected |
NJointControllerBase interface.
Definition at line 1275 of file Base.cpp.
Here is the call graph for this function:◆ additionalTask()
template<typename NJointTaskspaceControllerType>
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protectedvirtual |
Reimplemented in NJointSharedMemoryTaskspaceController< NJointTaskspaceController >, NJointZenohTaskspaceController< NJointTaskspaceController >, NJointZeroMQTaskspaceController< NJointTaskspaceController >, TSMPController< NJointTSAdmController, TSMPCtrlInterface >, TSMPController< NJointTSImpColController, TSMPColAvoidCtrlInterface >, TSMPController< NJointTSImpController, TSMPCtrlInterface >, TSMPController< NJointTSMixImpVelColController, TSMPColAvoidCtrlInterface >, TSMPController< NJointTSMixImpVelController, TSMPCtrlInterface >, TSMPController< NJointTSVelColController, TSMPColAvoidCtrlInterface >, TSMPController< NJointTSVelController, TSMPCtrlInterface >, and TSMPController< NJointTSVeloColController, TSMPColAvoidCtrlInterface >.
Definition at line 252 of file Base.cpp.
Here is the call graph for this function:◆ additionalTaskSetTarget()
template<typename NJointTaskspaceControllerType>
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protected |
◆ additionalTaskUpdateStatus()
template<typename NJointTaskspaceControllerType>
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protected |
◆ calibrateFTSensor()
template<typename NJointTaskspaceControllerType>
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override |
◆ collectArviz()
template<typename NJointTaskspaceControllerType>
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protectedvirtual |
Reimplemented in NJointTSColController< NJointTSImpController, law::arondto::TSImpColConfigDict >, NJointTSColController< NJointTSMixImpVelController, law::arondto::TSMixImpVelColConfigDict >, and NJointTSColController< NJointTSVelController, law::arondto::TSVeloColConfigDict >.
Definition at line 983 of file Base.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ commitArviz()
template<typename NJointTaskspaceControllerType>
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protected |
◆ createLimbs()
template<typename NJointTaskspaceControllerType>
| void createLimbs | ( | ) |
◆ deactivateController()
template<typename NJointTaskspaceControllerType>
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finalprotected |
◆ disableCoordinator()
template<typename NJointTaskspaceControllerType>
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override |
◆ enableSafeGuardForceTorque()
template<typename NJointTaskspaceControllerType>
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override |
◆ GenerateConfigDescription()
template<typename NJointTaskspaceControllerType>
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static |
◆ GenerateConfigFromVariants()
template<typename NJointTaskspaceControllerType>
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static |
◆ getConfig()
template<typename NJointTaskspaceControllerType>
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override |
◆ getCurrentTCPPose()
template<typename NJointTaskspaceControllerType>
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override |
◆ getRTStatus()
template<typename NJointTaskspaceControllerType>
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override |
◆ getTCPVel()
template<typename NJointTaskspaceControllerType>
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override |
◆ handleRTNotSafeInNonRT()
template<typename NJointTaskspaceControllerType>
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protected |
◆ isSafeForceTorque()
template<typename NJointTaskspaceControllerType>
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override |
◆ limbInit()
template<typename NJointTaskspaceControllerType>
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protected |
◆ limbNonRT()
template<typename NJointTaskspaceControllerType>
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protected |
◆ limbPublish()
template<typename NJointTaskspaceControllerType>
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protected |
◆ limbPublishConfig()
template<typename NJointTaskspaceControllerType>
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protectedpure virtual |
Implemented in NJointTSAdmController, NJointTSImpController, NJointTSImpController, NJointTSMixImpVelController, NJointTSMixImpVelController, and NJointTSVelController.
Here is the caller graph for this function:◆ limbReInit()
template<typename NJointTaskspaceControllerType>
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protected |
Note: this function will always be called once ctrl_proxy->activateController() is called. For situations where heavy objects are hold in hands in torque control mode, user has to check if this controller is already activated, and only call acitvateContgroller when it is not active. Or you can use the controllerBuilder wrapper, which handles this automatically
Is there a case where using current pose to initialize the RT desired pose is not suitable?
Definition at line 1205 of file Base.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ limbRT()
template<typename NJointTaskspaceControllerType>
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protected |
◆ limbRTSetTarget()
template<typename NJointTaskspaceControllerType>
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protected |
◆ limbRTUpdateStatus()
template<typename NJointTaskspaceControllerType>
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protected |
◆ onInitNJointController()
template<typename NJointTaskspaceControllerType>
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overrideprotectedvirtual |
Reimplemented from NJointControllerBase.
Definition at line 217 of file Base.cpp.
Here is the call graph for this function:◆ onPublish()
template<typename NJointTaskspaceControllerType>
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overrideprotectedvirtual |
Reimplemented from NJointControllerBase.
Reimplemented in NJointTSColController< NJointTSImpController, law::arondto::TSImpColConfigDict >, NJointTSColController< NJointTSMixImpVelController, law::arondto::TSMixImpVelColConfigDict >, NJointTSColController< NJointTSVelController, law::arondto::TSVeloColConfigDict >, NJointTSVelBasedColController< NJointTSVelController, law::arondto::TSVelColConfigDict >, NJointZenohTaskspaceController< NJointTaskspaceController >, NJointZeroMQTaskspaceController< NJointTaskspaceController >, TSMPController< NJointTSAdmController, TSMPCtrlInterface >, TSMPController< NJointTSImpColController, TSMPColAvoidCtrlInterface >, TSMPController< NJointTSImpController, TSMPCtrlInterface >, TSMPController< NJointTSMixImpVelColController, TSMPColAvoidCtrlInterface >, TSMPController< NJointTSMixImpVelController, TSMPCtrlInterface >, TSMPController< NJointTSVelColController, TSMPColAvoidCtrlInterface >, TSMPController< NJointTSVelController, TSMPCtrlInterface >, and TSMPController< NJointTSVeloColController, TSMPColAvoidCtrlInterface >.
Definition at line 901 of file Base.cpp.
Here is the call graph for this function:◆ onPublishCoordinator()
template<typename NJointTaskspaceControllerType>
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◆ rtGetDesiredPoseSafeStatus()
template<typename NJointTaskspaceControllerType>
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◆ rtGetDesiredPoseSafeStatusOnActivation()
template<typename NJointTaskspaceControllerType>
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◆ rtPostDeactivateController()
template<typename NJointTaskspaceControllerType>
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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.
@Andre Meixner: introduced the following line, which contradicts the use case where you disabled the controller during a coordination mode and reactivtion will not automatically activate the coordination mode again.
Reimplemented from NJointControllerBase.
Reimplemented in NJointTSColController< NJointTSImpController, law::arondto::TSImpColConfigDict >, NJointTSColController< NJointTSMixImpVelController, law::arondto::TSMixImpVelColConfigDict >, NJointTSColController< NJointTSVelController, law::arondto::TSVeloColConfigDict >, and NJointTSVelBasedColController< NJointTSVelController, law::arondto::TSVelColConfigDict >.
◆ rtPreActivateController()
template<typename NJointTaskspaceControllerType>
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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 NJointTSColController< NJointTSImpController, law::arondto::TSImpColConfigDict >, NJointTSColController< NJointTSMixImpVelController, law::arondto::TSMixImpVelColConfigDict >, NJointTSColController< NJointTSVelController, law::arondto::TSVeloColConfigDict >, NJointTSVelBasedColController< NJointTSVelController, law::arondto::TSVelColConfigDict >, TSMPController< NJointTSAdmController, TSMPCtrlInterface >, TSMPController< NJointTSImpColController, TSMPColAvoidCtrlInterface >, TSMPController< NJointTSImpController, TSMPCtrlInterface >, TSMPController< NJointTSMixImpVelColController, TSMPColAvoidCtrlInterface >, TSMPController< NJointTSMixImpVelController, TSMPCtrlInterface >, TSMPController< NJointTSVelColController, TSMPColAvoidCtrlInterface >, TSMPController< NJointTSVelController, TSMPCtrlInterface >, and TSMPController< NJointTSVeloColController, TSMPColAvoidCtrlInterface >.
Definition at line 1311 of file Base.cpp.
Here is the call graph for this function:◆ rtRun()
template<typename NJointTaskspaceControllerType>
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TODO make protected and use attorneys.
Implements SynchronousNJointController.
Reimplemented in NJointTSColController< NJointTSImpController, law::arondto::TSImpColConfigDict >, NJointTSColController< NJointTSMixImpVelController, law::arondto::TSMixImpVelColConfigDict >, NJointTSColController< NJointTSVelController, law::arondto::TSVeloColConfigDict >, and NJointTSVelBasedColController< NJointTSVelController, law::arondto::TSVelColConfigDict >.
Definition at line 534 of file Base.cpp.
Here is the call graph for this function:◆ rtRunCoordinator()
template<typename NJointTaskspaceControllerType>
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◆ updateConfig()
template<typename NJointTaskspaceControllerType>
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NJointController interface.
---------------------------— update/get config ----------------------------------------—
When user updates the controller config before the controller is activated, we need to copy the userconfig to rt data struct directly, as upon activation, the rtConfig will be validated and used to reinitialize all buffers.
Definition at line 560 of file Base.cpp.
Here is the call graph for this function:◆ updateInputData()
template<typename NJointTaskspaceControllerType>
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◆ updateTargetPose()
template<typename NJointTaskspaceControllerType>
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◆ useCoordinator()
template<typename NJointTaskspaceControllerType>
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◆ validateConfigData()
◆ validateConfigDataCheckSize()
template<typename NJointTaskspaceControllerType>
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Here is the caller graph for this function:◆ wasNotSafeForceTorque()
template<typename NJointTaskspaceControllerType>
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Member Data Documentation
◆ controllableNodeSets
template<typename NJointTaskspaceControllerType>
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◆ coordinator
template<typename NJointTaskspaceControllerType>
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◆ coordinatorEnabled
template<typename NJointTaskspaceControllerType>
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◆ coordinatorInputData
template<typename NJointTaskspaceControllerType>
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◆ hands
template<typename NJointTaskspaceControllerType>
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◆ limb
template<typename NJointTaskspaceControllerType>
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◆ nonRtRobot
template<typename NJointTaskspaceControllerType>
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◆ robotUnit
template<typename NJointTaskspaceControllerType>
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◆ scopedArviz
template<typename NJointTaskspaceControllerType>
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◆ userConfig
template<typename NJointTaskspaceControllerType>
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The documentation for this class was generated from the following files:
