CartesianNaturalPositionControllerProxy Class Reference

#include <RobotAPI/libraries/natik/CartesianNaturalPositionControllerProxy.h>

Classes
struct	DynamicKp
struct	KpBaseSettings
class	ScopedJointValueRestore
struct	VelocityBaseSettings
class	Waypoint
struct	WaypointConfig
struct	WaypointTargets

Public Member Functions
void	addWaypoint (const Waypoint &waypoint)
	CartesianNaturalPositionControllerProxy (const NaturalIK &_ik, const NaturalIK::ArmJoints &arm, const RobotUnitInterfacePrx &_robotUnit, const std::string &_controllerName, NJointCartesianNaturalPositionControllerConfigPtr _config)
void	cleanup ()
void	clearWaypoints ()
Waypoint	createWaypoint (const Eigen::Matrix4f &tcpTarget, std::optional< float > minElbowHeight=std::nullopt)
Waypoint	createWaypoint (const Eigen::Vector3f &tcpTarget, const std::vector< float > &userNullspaceTargets, std::optional< float > minElbowHeight=std::nullopt)
Waypoint	createWaypoint (const Eigen::Vector3f &tcpTarget, std::optional< float > minElbowHeight=std::nullopt)
Waypoint &	currentWaypoint ()
void	disableFTLimit ()
void	enableFTLimit (float force, float torque, bool useCurrentFTasOffset)
FTSensorValue	getAverageFTValue (bool substactOffset)
Eigen::Vector3f	getCurrentElbowTargetPosition ()
FTSensorValue	getCurrentFTValue (bool substactOffset)
Eigen::Vector3f	getCurrentTargetPosition ()
DynamicKp	getDynamicKp ()
float	getElbPositionError ()
NJointCartesianNaturalPositionControllerInterfacePrx	getInternalController ()
CartesianNaturalPositionControllerConfig	getRuntimeConfig ()
std::string	getStatusText ()
float	getTcpOrientationError ()
float	getTcpPositionError ()
void	init ()
bool	isFinalWaypointReached ()
bool	isLastWaypoint ()
void	setActivateControllerOnInit (bool value)
void	setDefaultWaypointConfig (const WaypointConfig &config)
void	setDynamicKp (DynamicKp dynamicKp)
void	setMaxVelocities (float referencePosVel)
void	setNullspaceTarget (const std::vector< float > &nullspaceTargets)
void	setRuntimeConfig (CartesianNaturalPositionControllerConfig runCfg)
bool	setTarget (const Eigen::Matrix4f &tcpTarget, NaturalDiffIK::Mode setOri, std::optional< float > minElbowHeight=std::nullopt)
void	stopClear ()
bool	update ()
void	updateBaseKpValues (const CartesianNaturalPositionControllerConfig &runCfg)
void	useCurrentFTasOffset ()

Static Public Member Functions
static std::vector< float >	CalculateMaxJointVelocity (const VirtualRobot::RobotNodeSetPtr &rns, float maxPosVel)
static NJointCartesianNaturalPositionControllerConfigPtr	MakeConfig (const std::string &rns, const std::string &elbowNode)
static std::vector< float >	ScaleVec (const std::vector< float > &vec, float scale)

Detailed Description

Definition at line 39 of file CartesianNaturalPositionControllerProxy.h.

Constructor & Destructor Documentation

CartesianNaturalPositionControllerProxy()

CartesianNaturalPositionControllerProxy	(	const NaturalIK &	_ik,
		const NaturalIK::ArmJoints &	arm,
		const RobotUnitInterfacePrx &	_robotUnit,
		const std::string &	_controllerName,
		NJointCartesianNaturalPositionControllerConfigPtr	_config )

Definition at line 39 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the call graph for this function:

Member Function Documentation

addWaypoint()

void addWaypoint

(

const Waypoint &

waypoint

)

Definition at line 306 of file CartesianNaturalPositionControllerProxy.cpp.

CalculateMaxJointVelocity()

std::vector< float > CalculateMaxJointVelocity ( const VirtualRobot::RobotNodeSetPtr & rns, float maxPosVel )

static

Definition at line 377 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the caller graph for this function:

cleanup()

void cleanup

(

)

Definition at line 461 of file CartesianNaturalPositionControllerProxy.cpp.

clearWaypoints()

void clearWaypoints

(

)

Definition at line 352 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the caller graph for this function:

createWaypoint() [1/3]

CartesianNaturalPositionControllerProxy::Waypoint createWaypoint	(	const Eigen::Matrix4f &	tcpTarget,
		std::optional< float >	minElbowHeight = std::nullopt )

Definition at line 339 of file CartesianNaturalPositionControllerProxy.cpp.

createWaypoint() [2/3]

CartesianNaturalPositionControllerProxy::Waypoint createWaypoint	(	const Eigen::Vector3f &	tcpTarget,
		const std::vector< float > &	userNullspaceTargets,
		std::optional< float >	minElbowHeight = std::nullopt )

Definition at line 317 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

createWaypoint() [3/3]

CartesianNaturalPositionControllerProxy::Waypoint createWaypoint	(	const Eigen::Vector3f &	tcpTarget,
		std::optional< float >	minElbowHeight = std::nullopt )

Definition at line 326 of file CartesianNaturalPositionControllerProxy.cpp.

currentWaypoint()

CartesianNaturalPositionControllerProxy::Waypoint & currentWaypoint

(

)

Definition at line 511 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the caller graph for this function:

disableFTLimit()

void disableFTLimit

(

)

Definition at line 211 of file CartesianNaturalPositionControllerProxy.cpp.

enableFTLimit()

void enableFTLimit	(	float	force,
		float	torque,
		bool	useCurrentFTasOffset )

Definition at line 199 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the call graph for this function:

getAverageFTValue()

armarx::FTSensorValue getAverageFTValue

(

bool

substactOffset

)

Definition at line 230 of file CartesianNaturalPositionControllerProxy.cpp.

getCurrentElbowTargetPosition()

Eigen::Vector3f getCurrentElbowTargetPosition

(

)

Definition at line 158 of file CartesianNaturalPositionControllerProxy.cpp.

getCurrentFTValue()

FTSensorValue getCurrentFTValue

(

bool

substactOffset

)

Definition at line 218 of file CartesianNaturalPositionControllerProxy.cpp.

getCurrentTargetPosition()

Eigen::Vector3f getCurrentTargetPosition

(

)

Definition at line 152 of file CartesianNaturalPositionControllerProxy.cpp.

getDynamicKp()

CartesianNaturalPositionControllerProxy::DynamicKp getDynamicKp

(

)

Definition at line 537 of file CartesianNaturalPositionControllerProxy.cpp.

getElbPositionError()

float getElbPositionError

(

)

Definition at line 180 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the call graph for this function:

getInternalController()

NJointCartesianNaturalPositionControllerInterfacePrx getInternalController

(

)

Definition at line 524 of file CartesianNaturalPositionControllerProxy.cpp.

getRuntimeConfig()

CartesianNaturalPositionControllerConfig getRuntimeConfig

(

)

Definition at line 300 of file CartesianNaturalPositionControllerProxy.cpp.

getStatusText()

std::string getStatusText

(

)

Definition at line 366 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the call graph for this function:

getTcpOrientationError()

float getTcpOrientationError

(

)

Definition at line 170 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

getTcpPositionError()

float getTcpPositionError

(

)

Definition at line 164 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

init()

void init

(

)

Definition at line 88 of file CartesianNaturalPositionControllerProxy.cpp.

isFinalWaypointReached()

bool isFinalWaypointReached

(

)

Definition at line 186 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the call graph for this function:

isLastWaypoint()

bool isLastWaypoint

(

)

Definition at line 518 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the caller graph for this function:

MakeConfig()

NJointCartesianNaturalPositionControllerConfigPtr MakeConfig ( const std::string & rns, const std::string & elbowNode )

static

Definition at line 77 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the caller graph for this function:

ScaleVec()

std::vector< float > ScaleVec ( const std::vector< float > & vec, float scale )

static

Definition at line 406 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the caller graph for this function:

setActivateControllerOnInit()

void setActivateControllerOnInit

(

bool

value

)

Definition at line 417 of file CartesianNaturalPositionControllerProxy.cpp.

setDefaultWaypointConfig()

void setDefaultWaypointConfig

(

const WaypointConfig &

config

)

Definition at line 359 of file CartesianNaturalPositionControllerProxy.cpp.

setDynamicKp()

void setDynamicKp

(

DynamicKp

dynamicKp

)

Definition at line 530 of file CartesianNaturalPositionControllerProxy.cpp.

setMaxVelocities()

void setMaxVelocities

(

float

referencePosVel

)

Definition at line 423 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the call graph for this function:

setNullspaceTarget()

void setNullspaceTarget

(

const std::vector< float > &

nullspaceTargets

)

Definition at line 143 of file CartesianNaturalPositionControllerProxy.cpp.

setRuntimeConfig()

void setRuntimeConfig

(

CartesianNaturalPositionControllerConfig

runCfg

)

Definition at line 292 of file CartesianNaturalPositionControllerProxy.cpp.

setTarget()

bool setTarget	(	const Eigen::Matrix4f &	tcpTarget,
		NaturalDiffIK::Mode	setOri,
		std::optional< float >	minElbowHeight = std::nullopt )

Definition at line 111 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the call graph for this function:

stopClear()

void stopClear

(

)

Definition at line 242 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the call graph for this function:

update()

bool update

(

)

Definition at line 477 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the call graph for this function:

updateBaseKpValues()

void updateBaseKpValues

(

const CartesianNaturalPositionControllerConfig &

runCfg

)

Definition at line 447 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the caller graph for this function:

useCurrentFTasOffset()

void useCurrentFTasOffset

(

)

Definition at line 192 of file CartesianNaturalPositionControllerProxy.cpp.

Here is the caller graph for this function:

---

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

• RobotAPI/libraries/natik/CartesianNaturalPositionControllerProxy.h
• RobotAPI/libraries/natik/CartesianNaturalPositionControllerProxy.cpp