KeypointsImpedanceController Class Reference

#include <armarx/control/common/control_law/KeypointsImpedanceController.h>

Classes
struct	Config
	you can set the following values from outside of the rt controller via Ice interfaces More...
struct	NonRtStatus
struct	RtStatus
	internal status of the controller, containing intermediate variables, mutable targets More...

Public Member Functions
void	firstRun ()
void	initialize (const VirtualRobot::RobotNodeSetPtr &rns)
void	preactivateInit (const VirtualRobot::RobotNodeSetPtr &rns, const Config &c)
void	run (const Config &cfg, ControlTarget &targets)
bool	updateControlStatus (const Config &cfg, const RobotStatus &robotStatus)

Public Attributes
TripleBuffer< NonRtStatus >	bufferNonRtToOnPublish
TripleBuffer< NonRtStatus >	bufferNonRtToRt
TripleBuffer< RtStatus >	bufferRtToOnPublish
std::atomic< bool >	isInitialized {false}
VirtualRobot::RobotNodePtr	tcp

Member Function Documentation

firstRun()

void firstRun

(

)

initialize()

void initialize

(

const VirtualRobot::RobotNodeSetPtr &

rns

)

joint space variables

preactivateInit()

void preactivateInit	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		const Config &	c )

keypoint status

run()

void run	(	const Config &	cfg,
		ControlTarget &	targets )

run in rt thread

--------------------------— Impedance control ------------------------------------------— calculate pose error between target pose and current pose !!! This is very important: you have to keep postion and orientation both with UI unit (meter, radian) to calculate impedance force.

--------------------------— Nullspace PD Control -----------------------------------------------—

--------------------------— Map TS target force to JS -----------------------------------------------—

--------------------------— write torque target -----------------------------------------------—

updateControlStatus()

bool updateControlStatus	(	const Config &	cfg,
		const RobotStatus &	robotStatus )

check size and value

--------------------------— get current status of robot ------------------------------------------— original data in ArmarX use the following units: position in mm, joint angles and orientation in radian, velocity in mm/s and radian/s, etc. here we convert mm to m, if you use MP from outside, make sure to convert it back to mm

--------------------------— keypoint related ------------------------------------------— compute (filtered) keypoint position

compute filtered keypoint velocity

--------------------------— compute keypoint tracking force ------------------------------------------—

in theory, we can also add s.desiredKeypointVelocity to the damping term

Member Data Documentation

bufferNonRtToOnPublish

TripleBuffer<NonRtStatus> bufferNonRtToOnPublish

bufferNonRtToRt

TripleBuffer<NonRtStatus> bufferNonRtToRt

bufferRtToOnPublish

TripleBuffer<RtStatus> bufferRtToOnPublish

isInitialized

std::atomic<bool> isInitialized {false}

tcp

VirtualRobot::RobotNodePtr tcp

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

• armarx/control/common/control_law/KeypointsImpedanceController.h
• armarx/control/common/control_law/KeypointsImpedanceController.cpp