#include <armarx/navigation/trajectory_control/global/TrajectoryFollowingController.h>
Inheritance diagram for TrajectoryFollowingControllerParams:Public Member Functions | |
| Algorithms | algorithm () const override |
| aron::data::DictPtr | toAron () const override |
| Public Member Functions inherited from TrajectoryControllerParams | |
| virtual | ~TrajectoryControllerParams ()=default |
Static Public Member Functions | |
| static TrajectoryFollowingControllerParams | FromAron (const aron::data::DictPtr &dict) |
Public Attributes | |
| float | alpha = 0 |
| float | angularFeedforwardFraction = 1.F |
Fraction of limits.angular the angular feed-forward may use. 1 lets it saturate. | |
| bool | coupleLinearAndAngularLimits = true |
| bool | enableAngularFeedforward = false |
| float | lookaheadDistance = 0.F |
Lookahead as a distance [mm]. 0 keeps the pure maxSegmentsAhead behaviour. | |
| float | maxAngularAcceleration = 0.4F |
| float | maxLinearAcceleration = 250.F |
| Rate at which the RT thread walks the commanded twist towards this controller's output. | |
| int | maxSegmentsAhead = 5 |
| float | minFeedforwardVelocityFraction = 0.F |
| Floor on the capped linear feed-forward, as a fraction of the requested velocity. | |
| float | orientationWeight = 3.0f / M_PIf32 |
| core::PIDParams | pidOri |
| core::PIDParams | pidPos |
| float | velocityFactor = 1.F |
| Public Attributes inherited from TrajectoryControllerParams | |
| core::TwistLimits | limits |
Member Function Documentation
◆ algorithm()
|
overridevirtual |
Implements TrajectoryControllerParams.
◆ FromAron()
|
static |
◆ toAron()
|
overridevirtual |
Implements TrajectoryControllerParams.
Member Data Documentation
◆ alpha
| float alpha = 0 |
◆ angularFeedforwardFraction
| float angularFeedforwardFraction = 1.F |
Fraction of limits.angular the angular feed-forward may use. 1 lets it saturate.
◆ coupleLinearAndAngularLimits
| bool coupleLinearAndAngularLimits = true |
◆ enableAngularFeedforward
| bool enableAngularFeedforward = false |
◆ lookaheadDistance
| float lookaheadDistance = 0.F |
Lookahead as a distance [mm]. 0 keeps the pure maxSegmentsAhead behaviour.
◆ maxAngularAcceleration
| float maxAngularAcceleration = 0.4F |
◆ maxLinearAcceleration
| float maxLinearAcceleration = 250.F |
Rate at which the RT thread walks the commanded twist towards this controller's output.
Not a limit on the motion – the joint controller's ramp stays authoritative, since the same control mode is shared with the platform unit and the gamepad – but the bridge between the 100 Hz non-RT task and the 1 kHz RT thread. Defaults are ARMAR-7's device command ramp, so this never asks for more than the ramp would grant.
◆ maxSegmentsAhead
| int maxSegmentsAhead = 5 |
◆ minFeedforwardVelocityFraction
| float minFeedforwardVelocityFraction = 0.F |
Floor on the capped linear feed-forward, as a fraction of the requested velocity.
◆ orientationWeight
| float orientationWeight = 3.0f / M_PIf32 |
◆ pidOri
| core::PIDParams pidOri |
◆ pidPos
| core::PIDParams pidPos |
◆ velocityFactor
| float velocityFactor = 1.F |
The documentation for this struct was generated from the following files:
- armarx/navigation/trajectory_control/global/TrajectoryFollowingController.h
- armarx/navigation/trajectory_control/global/TrajectoryFollowingController.cpp
