#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

Detailed Description

Definition at line 40 of file TrajectoryFollowingController.h.

Member Function Documentation

◆ algorithm()

Algorithms algorithm ( ) const

overridevirtual

Implements TrajectoryControllerParams.

Definition at line 32 of file TrajectoryFollowingController.cpp.

◆ FromAron()

TrajectoryFollowingControllerParams FromAron ( const aron::data::DictPtr & dict )

static

Definition at line 49 of file TrajectoryFollowingController.cpp.

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◆ toAron()

aron::data::DictPtr toAron ( ) const

overridevirtual

Implements TrajectoryControllerParams.

Definition at line 38 of file TrajectoryFollowingController.cpp.

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Member Data Documentation

◆ alpha

float alpha = 0

Definition at line 48 of file TrajectoryFollowingController.h.

◆ angularFeedforwardFraction

float angularFeedforwardFraction = 1.F

Fraction of limits.angular the angular feed-forward may use. 1 lets it saturate.

Definition at line 58 of file TrajectoryFollowingController.h.

◆ coupleLinearAndAngularLimits

bool coupleLinearAndAngularLimits = true

Definition at line 63 of file TrajectoryFollowingController.h.

◆ enableAngularFeedforward

bool enableAngularFeedforward = false

Definition at line 65 of file TrajectoryFollowingController.h.

◆ lookaheadDistance

float lookaheadDistance = 0.F

Lookahead as a distance [mm]. 0 keeps the pure maxSegmentsAhead behaviour.

Definition at line 55 of file TrajectoryFollowingController.h.

◆ maxAngularAcceleration

float maxAngularAcceleration = 0.4F

Definition at line 73 of file TrajectoryFollowingController.h.

◆ 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.

Definition at line 72 of file TrajectoryFollowingController.h.