#include <RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h>

Classes
struct	NullspaceOptimizationArgs

Public Member Functions
void	addWaypoint (const Eigen::Matrix4f &waypoint)

void	clearFeedForwardVelocity ()

const Eigen::Matrix4f &	getCurrentTarget () const

const Eigen::Vector3f	getCurrentTargetPosition () const

float	getOrientationError () const

float	getPositionError () const

std::string	getStatusText ()

void	immediateHardStop (bool clearTargets=true)

bool	isCurrentTargetNear () const

bool	isCurrentTargetReached () const

bool	isFinalTargetNear () const

bool	isFinalTargetReached () const

bool	isLastWaypoint () const

	PositionControllerHelper (const VirtualRobot::RobotNodePtr &tcp, const VelocityControllerHelperPtr &velocityControllerHelper, const Eigen::Matrix4f &target)

	PositionControllerHelper (const VirtualRobot::RobotNodePtr &tcp, const VelocityControllerHelperPtr &velocityControllerHelper, const std::vector< Eigen::Matrix4f > &waypoints)

	PositionControllerHelper (const VirtualRobot::RobotNodePtr &tcp, const VelocityControllerHelperPtr &velocityControllerHelper, const std::vector< PosePtr > &waypoints)

void	readConfig (const CartesianPositionControllerConfigBase &config)

void	readConfig (const CartesianPositionControllerConfigBasePtr &config)

void	setFeedForwardVelocity (const Eigen::Vector3f &feedForwardVelocityPos, const Eigen::Vector3f &feedForwardVelocityOri)

void	setFeedForwardVelocity (const Eigen::Vector6f &feedForwardVelocity)

void	setNewWaypoints (const std::vector< Eigen::Matrix4f > &waypoints)

void	setNewWaypoints (const std::vector< PosePtr > &waypoints)

void	setNullSpaceControl (bool enabled)

void	setTarget (const Eigen::Matrix4f &target)

size_t	skipToClosestWaypoint (float rad2mmFactor)

void	update ()

void	updateRead ()

void	updateWrite ()

Static Public Member Functions
static bool	OptimizeNullspace (const VirtualRobot::RobotNodePtr &tcp, const VirtualRobot::RobotNodeSetPtr &rns, const Eigen::Matrix4f &target, const NullspaceOptimizationArgs &args=NullspaceOptimizationArgs())
	OptimizeNullspace. More...

Public Attributes
bool	autoClearFeedForward = true

size_t	currentWaypointIndex = 0

Eigen::Vector6f	feedForwardVelocity = Eigen::Vector6f::Zero()

CartesianPositionController	posController

float	thresholdOrientationNear = 0

float	thresholdOrientationReached = 0

float	thresholdPositionNear = 0

float	thresholdPositionReached = 0

VelocityControllerHelperPtr	velocityControllerHelper

std::vector< Eigen::Matrix4f >	waypoints

Detailed Description

Definition at line 47 of file PositionControllerHelper.h.

Constructor & Destructor Documentation

◆ PositionControllerHelper() [1/3]

PositionControllerHelper	(	const VirtualRobot::RobotNodePtr &	tcp,
		const VelocityControllerHelperPtr &	velocityControllerHelper,
		const Eigen::Matrix4f &	target
	)

Definition at line 38 of file PositionControllerHelper.cpp.

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◆ PositionControllerHelper() [2/3]

PositionControllerHelper	(	const VirtualRobot::RobotNodePtr &	tcp,
		const VelocityControllerHelperPtr &	velocityControllerHelper,
		const std::vector< Eigen::Matrix4f > &	waypoints
	)

Definition at line 49 of file PositionControllerHelper.cpp.

◆ PositionControllerHelper() [3/3]

PositionControllerHelper	(	const VirtualRobot::RobotNodePtr &	tcp,
		const VelocityControllerHelperPtr &	velocityControllerHelper,
		const std::vector< PosePtr > &	waypoints
	)

Definition at line 60 of file PositionControllerHelper.cpp.

Member Function Documentation

◆ addWaypoint()

void addWaypoint ( const Eigen::Matrix4f & waypoint )

Definition at line 140 of file PositionControllerHelper.cpp.

◆ clearFeedForwardVelocity()

void clearFeedForwardVelocity ( )

Definition at line 168 of file PositionControllerHelper.cpp.

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◆ getCurrentTarget()

const Eigen::Matrix4f & getCurrentTarget ( ) const

Definition at line 228 of file PositionControllerHelper.cpp.

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◆ getCurrentTargetPosition()

const Eigen::Vector3f getCurrentTargetPosition ( ) const

Definition at line 234 of file PositionControllerHelper.cpp.

◆ getOrientationError()

float getOrientationError ( ) const

Definition at line 190 of file PositionControllerHelper.cpp.

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◆ getPositionError()

float getPositionError ( ) const

Definition at line 184 of file PositionControllerHelper.cpp.

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◆ getStatusText()

std::string getStatusText ( )

Definition at line 266 of file PositionControllerHelper.cpp.

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◆ immediateHardStop()

void immediateHardStop ( bool clearTargets = true )

Definition at line 174 of file PositionControllerHelper.cpp.

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◆ isCurrentTargetNear()

bool isCurrentTargetNear ( ) const

Definition at line 203 of file PositionControllerHelper.cpp.

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◆ isCurrentTargetReached()

bool isCurrentTargetReached ( ) const

Definition at line 196 of file PositionControllerHelper.cpp.

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◆ isFinalTargetNear()

bool isFinalTargetNear ( ) const

Definition at line 216 of file PositionControllerHelper.cpp.

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◆ isFinalTargetReached()

bool isFinalTargetReached ( ) const

Definition at line 210 of file PositionControllerHelper.cpp.

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◆ isLastWaypoint()

bool isLastWaypoint ( ) const

Definition at line 222 of file PositionControllerHelper.cpp.

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◆ OptimizeNullspace()

bool OptimizeNullspace	(	const VirtualRobot::RobotNodePtr &	tcp,
		const VirtualRobot::RobotNodeSetPtr &	rns,
		const Eigen::Matrix4f &	target,
		const NullspaceOptimizationArgs &	args = `NullspaceOptimizationArgs()`
	)