Brief description of class NJointTaskspaceImpedanceController. More...

#include <armarx/control/njoint_controller/task_space/ImpedanceController.h>

Inheritance diagram for NJointTaskspaceImpedanceController:

Classes
struct	ArmData

Public Types
using	ArmPtr = std::unique_ptr<ArmData>

using	Config = law::TaskspaceImpedanceController::Config

using	ConfigDict = law::TaskspaceImpedanceController::ConfigDict

using	ConfigPtrT = ConfigurableNJointControllerConfigPtr

using	PoseFrameMode = armarx::control::common::arondto::PoseFrameMode

using	RtStatus = armarx::control::common::control_law::TSCtrlRtStatus

Public Types inherited from NJointControllerBase
using	ConfigPtrT = NJointControllerConfigPtr

using	GenerateConfigDescriptionFunctionSignature

template<class ConfigPrtType>
using	GenerateConfigFromVariantsFunctionSignature

Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle<SimplePeriodicTask<std::function<void(void)>>>

Public Member Functions
void	calibrateFTSensor (const Ice::Current &) override
	ft sensor

void	disableCoordinator (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	enableSafeGuardForceTorque (const std::string &nodeSetName, const bool forceGuard, const bool torqueGuard, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

std::string	getClassName (const Ice::Current &=Ice::emptyCurrent) const override

::armarx::aron::data::dto::DictPtr	getConfig (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

Ice::FloatSeq	getTCPVel (const std::string &rns, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

bool	isSafeForceTorque (const std::string &nodeSetName, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
	-----------------------------— Other interaces ----------------------------------------—

	NJointTaskspaceImpedanceController (const RobotUnitPtr &robotUnit, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &)

void	rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) override
	TODO make protected and use attorneys.

void	updateConfig (const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
	NJointController interface.

void	updateObjectTargetPose (const FloatSeqSeq &targetPose, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

bool	updateTargetPose (const TargetPoseMap &targetPoseMap, const TargetNullspaceMap &targetNullspaceMap, const Ice::Current &=Ice::emptyCurrent) override

void	useCoordinator (const std::string &type, const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

Public Member Functions inherited from SynchronousNJointController
virtual void	rtSwapBufferAndRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)

Public Member Functions inherited from NJointControllerBase
void	activateController (const Ice::Current &=Ice::emptyCurrent) override

void	callDescribedFunction (const std::string &, const StringVariantBaseMap &, const Ice::Current &=Ice::emptyCurrent) override

void	deactivateAndDeleteController (const Ice::Current &=Ice::emptyCurrent) final override

void	deactivateController (const Ice::Current &=Ice::emptyCurrent) override

void	deleteController (const Ice::Current &=Ice::emptyCurrent) final override

const std::map< std::string, const JointController * > &	getControlDevicesUsedJointController ()

const std::vector< char > &	getControlDeviceUsedBitmap () const

StringStringDictionary	getControlDeviceUsedControlModeMap (const Ice::Current &=Ice::emptyCurrent) const final override

const std::vector< std::size_t > &	getControlDeviceUsedIndices () const

NJointControllerDescription	getControllerDescription (const Ice::Current &=Ice::emptyCurrent) const final override

NJointControllerDescriptionWithStatus	getControllerDescriptionWithStatus (const Ice::Current &=Ice::emptyCurrent) const final override

NJointControllerStatus	getControllerStatus (const Ice::Current &=Ice::emptyCurrent) const final override

WidgetDescription::StringWidgetDictionary	getFunctionDescriptions (const Ice::Current &=Ice::emptyCurrent) const override

std::string	getInstanceName (const Ice::Current &=Ice::emptyCurrent) const final override

bool	hasControllerError (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isControllerActive (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isControllerRequested (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isDeletable (const Ice::Current &=Ice::emptyCurrent) const final override

std::optional< std::vector< char > >	isNotInConflictWith (const NJointControllerBasePtr &other) const

std::optional< std::vector< char > >	isNotInConflictWith (const std::vector< char > &used) const

	NJointControllerBase ()

ConstControlDevicePtr	peekControlDevice (const std::string &deviceName) const
	Get a const ptr to the given ControlDevice.

ConstSensorDevicePtr	peekSensorDevice (const std::string &deviceName) const
	Get a const ptr to the given SensorDevice.

const std::string &	rtGetClassName () const
	Returns the class name.

const std::vector< std::size_t > &	rtGetControlDeviceUsedIndices () const
	Returns the indices of all ControlDevice's this NJointControllerBase calculates a ControlTarget for.

bool	rtGetErrorState () const
	Sets the error state to true.

const std::string &	rtGetInstanceName () const
	Returns the instance name.

std::size_t	rtGetNumberOfUsedControlDevices () const
	Returns the number of used ControlDevices.

const VirtualRobot::RobotPtr &	rtGetRobot ()
	TODO make protected and use attorneys.

const std::vector< VirtualRobot::RobotNodePtr > &	rtGetRobotNodes ()
	Returns the nodes of the virtual robot used by this NJointControllerBase in the rtRun.

bool	rtUsesControlDevice (std::size_t deviceIndex) const
	Returns whether this NJointControllerBase calculates a ControlTarget for the given ControlDevice.

ControlTargetBase *	useControlTarget (const std::string &deviceName, const std::string &controlMode)
	Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called.

template<class T>
T *	useControlTarget (const std::string &deviceName, const std::string &controlMode)
	Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called.

template<class T>
const T *	useSensorValue (const std::string &deviceName) const
	Get a const ptr to the given SensorDevice's SensorValue.

const SensorValueBase *	useSensorValue (const std::string &sensorDeviceName) const
	Get a const ptr to the given SensorDevice's SensorValue.

const VirtualRobot::RobotPtr &	useSynchronizedRtRobot (bool updateCollisionModel=false)
	Requests a VirtualRobot for use in rtRun *.

	~NJointControllerBase () override

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer)

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name.

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components.

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies)

IceManagerPtr	getIceManager () const
	Returns the IceManager.

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object.

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter.

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler

template<class ProxyTarg, class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyType>
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object.

template<class ProxyTarg, class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&... args)

template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&... args)
	Assigns a proxy to `proxy`.

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy)

template<class Prx>
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType>
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload).

template<class Prx>
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject.

template<class TopicProxyType>
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic.

template<class TopicProxyType>
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`.

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization.

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager.

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic.

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list.

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization.

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies.

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds.

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from NJointTaskspaceImpedanceControllerInterface
void	calibrateFTSensor ()
	ft sensor

void	disableCoordinator ()

void	enableSafeGuardForceTorque (string rns, bool forceGuard, bool torqueGuard)

Ice::FloatSeq	getTCPVel (string rns)

bool	isSafeForceTorque (string nodeSetName)

void	updateObjectTargetPose (FloatSeqSeq targetPose)

bool	updateTargetPose (TargetPoseMap targetPoseMap, TargetNullspaceMap targetNullspaceMap)

void	useCoordinator (string type, armarx::aron::data::dto::Dict dto)

Public Member Functions inherited from ArVizComponentPluginUser
	ArVizComponentPluginUser ()

armarx::viz::Client	createArVizClient ()

armarx::viz::Client &	getArvizClient ()

Static Public Member Functions
static WidgetDescription::WidgetPtr	GenerateConfigDescription (const VirtualRobot::RobotPtr &, const std::map< std::string, ConstControlDevicePtr > &, const std::map< std::string, ConstSensorDevicePtr > &)
	--------------------------------— GUI Widget ------------------------------------------—

static ConfigPtrT	GenerateConfigFromVariants (const StringVariantBaseMap &values)

Static Public Member Functions inherited from NJointControllerBase
template<class ItT>
static std::optional< std::vector< char > >	AreNotInConflict (ItT first, ItT last)

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name.

static std::string	GetObjectStateAsString (int state)

Protected Member Functions
virtual void	additionalTask ()

void	additionalTaskSetTarget ()

std::tuple< bool, bool >	additionalTaskUpdateStatus ()

void	handleRTNotSafeInNonRT ()

void	limbInit (const std::string nodeSetName, ArmPtr &arm, Config &cfg, VirtualRobot::RobotPtr &nonRtRobotPtr)

void	limbNonRT (ArmPtr &arm)

void	limbPublish (ArmPtr &arm, const DebugObserverInterfacePrx &debugObs)

void	limbReInit (ArmPtr &arm)

void	limbRT (ArmPtr &arm, const double deltaT)

void	limbRTSetTarget (ArmPtr &arm, const Eigen::VectorXf &targetTorque)

void	limbRTUpdateStatus (ArmPtr &arm, const double deltaT)
	-----------------------------— Real time cotnrol --------------------------------------—

void	onInitNJointController () override
	NJointControllerBase interface.

void	onPublish (const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &) override

void	onPublishCoordinator (const DebugObserverInterfacePrx &debugObs)

void	rtPostDeactivateController () override
	This function is called after the controller is deactivated.

void	rtPreActivateController () override
	This function is called before the controller is activated.

void	rtRunCoordinator (double deltaT)
	coordinator

void	updateInputData (const std::string &key, const Eigen::Matrix4f &targetPose, const PoseFrameMode &targetPoseMode, const Eigen::Matrix4f &pose, const Eigen::Vector6f &vel, const Eigen::Vector6f &ft, const Eigen::Vector6f &stiffness)
	some method for coordinator

void	validateConfigData (Config &config, ArmPtr &arm)

Protected Member Functions inherited from NJointControllerBase
std::string	getDefaultName () const override

ThreadPoolPtr	getThreadPool () const

void	onConnectComponent () final

virtual void	onConnectNJointController ()

void	onDisconnectComponent () final

virtual void	onDisconnectNJointController ()

void	onExitComponent () final

virtual void	onExitNJointController ()

void	onInitComponent () final

virtual void	onPublishActivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)

virtual void	onPublishDeactivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)

void	rtSetErrorState ()
	Sets the error state to true.

template<typename Task>
void	runTask (const std::string &taskName, Task &&task)
	Executes a given task in a separate thread from the Application ThreadPool.

Protected Member Functions inherited from ManagedIceObject
template<class PluginT, class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&... params)

template<class PluginT, class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&... params)

template<class PluginT, class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&... params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor.

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnConnectComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

virtual void	preOnInitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object.

void	setName (std::string name)
	Override name of well-known object.

void	terminate ()
	Initiates termination of this IceManagedObject.

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender.

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
std::map< std::string, VirtualRobot::RobotNodeSetPtr >	controllableNodeSets

std::shared_ptr< common::coordination::SyncCoordination >	coordinator = nullptr

std::atomic_bool	coordinatorEnabled = false
	coordinator

std::map< std::string, common::coordination::InputData >	coordinatorInputData

core::HandControlPtr	hands = nullptr

std::map< std::string, ArmPtr >	limb

VirtualRobot::RobotPtr	nonRtRobot

RobotUnitPtr	robotUnit

ConfigDict	userConfig

Protected Attributes inherited from NJointControllerBase
std::map< std::string, std::shared_ptr< ThreadPool::Handle > >	threadHandles

std::mutex	threadHandlesMutex

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Additional Inherited Members
Public Attributes inherited from ArVizComponentPluginUser
armarx::viz::Client	arviz

Static Public Attributes inherited from NJointControllerBase
static const NJointControllerBasePtr	NullPtr {nullptr}

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required.

Detailed Description

Brief description of class NJointTaskspaceImpedanceController.

Detailed description of class NJointTaskspaceImpedanceController.

Definition at line 53 of file ImpedanceController.h.

Member Typedef Documentation

◆ ArmPtr

using ArmPtr = std::unique_ptr<ArmData>

Definition at line 105 of file ImpedanceController.h.

◆ Config

using Config = law::TaskspaceImpedanceController::Config

Definition at line 60 of file ImpedanceController.h.

◆ ConfigDict

using ConfigDict = law::TaskspaceImpedanceController::ConfigDict

Definition at line 61 of file ImpedanceController.h.

◆ ConfigPtrT

using ConfigPtrT = ConfigurableNJointControllerConfigPtr

Definition at line 59 of file ImpedanceController.h.

◆ PoseFrameMode

using PoseFrameMode = armarx::control::common::arondto::PoseFrameMode

Definition at line 64 of file ImpedanceController.h.

◆ RtStatus

using RtStatus = armarx::control::common::control_law::TSCtrlRtStatus

Definition at line 63 of file ImpedanceController.h.

Constructor & Destructor Documentation

◆ NJointTaskspaceImpedanceController()

NJointTaskspaceImpedanceController	(	const RobotUnitPtr &	robotUnit,
		const NJointControllerConfigPtr &	config,
		const VirtualRobot::RobotPtr &	)

Definition at line 100 of file ImpedanceController.cpp.

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Member Function Documentation

◆ additionalTask()

void additionalTask ( )

protectedvirtual

Reimplemented in NJointBiKAC, NJointTSCollisionAvoidanceImpedanceMPController, NJointTSImpedanceMPController, NJointTSObjectCollisionAvoidanceImpedanceMPController, and NJointWipingImpMPController.

Definition at line 176 of file ImpedanceController.cpp.

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◆ additionalTaskSetTarget()

void additionalTaskSetTarget ( )

protected

Definition at line 210 of file ImpedanceController.cpp.

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◆ additionalTaskUpdateStatus()

std::tuple< bool, bool > additionalTaskUpdateStatus ( )

protected

Definition at line 187 of file ImpedanceController.cpp.

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◆ calibrateFTSensor()

void calibrateFTSensor ( const Ice::Current & )

override

ft sensor

Definition at line 809 of file ImpedanceController.cpp.

◆ disableCoordinator()

void disableCoordinator ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 889 of file ImpedanceController.cpp.

◆ enableSafeGuardForceTorque()

void enableSafeGuardForceTorque	(	const std::string &	nodeSetName,
		const bool	forceGuard,
		const bool	torqueGuard,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 469 of file ImpedanceController.cpp.

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◆ GenerateConfigDescription()

WidgetDescription::WidgetPtr GenerateConfigDescription	(	const VirtualRobot::RobotPtr &	robot,
		const std::map< std::string, ConstControlDevicePtr > &	controlDevices,
		const std::map< std::string, ConstSensorDevicePtr > &	)

static

--------------------------------— GUI Widget ------------------------------------------—

select default config

Definition at line 988 of file ImpedanceController.cpp.

◆ GenerateConfigFromVariants()

NJointTaskspaceImpedanceController::ConfigPtrT GenerateConfigFromVariants ( const StringVariantBaseMap & values )

static

Definition at line 1022 of file ImpedanceController.cpp.

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◆ getClassName()

std::string getClassName ( const Ice::Current & = Ice::emptyCurrent ) const

overridevirtual

Implements NJointControllerBase.

Reimplemented in NJointTaskspaceObjectCollisionAvoidanceImpedanceController, NJointBiKAC, NJointTSCollisionAvoidanceImpedanceMPController, NJointTSImpedanceMPController, NJointTSObjectCollisionAvoidanceImpedanceMPController, and NJointWipingImpMPController.

Definition at line 137 of file ImpedanceController.cpp.

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◆ getConfig()

armarx::aron::data::dto::DictPtr getConfig ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 454 of file ImpedanceController.cpp.

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◆ getTCPVel()

Ice::FloatSeq getTCPVel	(	const std::string &	rns,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 510 of file ImpedanceController.cpp.

◆ handleRTNotSafeInNonRT()

void handleRTNotSafeInNonRT ( )

protected

Definition at line 223 of file ImpedanceController.cpp.

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◆ isSafeForceTorque()

bool isSafeForceTorque	(	const std::string &	nodeSetName,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

-----------------------------— Other interaces ----------------------------------------—

Definition at line 495 of file ImpedanceController.cpp.

◆ limbInit()

void limbInit	(	const std::string	nodeSetName,
		ArmPtr &	arm,
		Config &	cfg,
		VirtualRobot::RobotPtr &	nonRtRobotPtr )

protected

Definition at line 51 of file ImpedanceController.cpp.

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◆ limbNonRT()

void limbNonRT ( ArmPtr & arm )

protected

Definition at line 169 of file ImpedanceController.cpp.

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◆ limbPublish()

void limbPublish	(	ArmPtr &	arm,
		const DebugObserverInterfacePrx &	debugObs )

protected

TODO To viz debug in arviz, commented out when controller is stable

Definition at line 600 of file ImpedanceController.cpp.

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◆ limbReInit()

void limbReInit ( ArmPtr & arm )

protected

Definition at line 911 of file ImpedanceController.cpp.

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◆ limbRT()

void limbRT	(	ArmPtr &	arm,
		const double	deltaT )

protected

Definition at line 295 of file ImpedanceController.cpp.

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◆ limbRTSetTarget()

void limbRTSetTarget	(	ArmPtr &	arm,
		const Eigen::VectorXf &	targetTorque )

protected

Definition at line 267 of file ImpedanceController.cpp.

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◆ limbRTUpdateStatus()

void limbRTUpdateStatus	(	ArmPtr &	arm,
		const double	deltaT )

protected

-----------------------------— Real time cotnrol --------------------------------------—

Definition at line 243 of file ImpedanceController.cpp.

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◆ onInitNJointController()

void onInitNJointController ( )

overrideprotectedvirtual

NJointControllerBase interface.

Reimplemented from NJointControllerBase.

Definition at line 143 of file ImpedanceController.cpp.

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◆ onPublish()

void onPublish	(	const SensorAndControl &	,
		const DebugDrawerInterfacePrx &	,
		const DebugObserverInterfacePrx &	debugObs )

overrideprotectedvirtual

Reimplemented from NJointControllerBase.

Reimplemented in NJointTaskspaceObjectCollisionAvoidanceImpedanceController, NJointBiKAC, and NJointTSObjectCollisionAvoidanceImpedanceMPController.

Definition at line 725 of file ImpedanceController.cpp.

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◆ onPublishCoordinator()

void onPublishCoordinator ( const DebugObserverInterfacePrx & debugObs )

protected

TODO To viz debug in arviz, commented out when controller is stable

Definition at line 743 of file ImpedanceController.cpp.

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◆ rtPostDeactivateController()

void rtPostDeactivateController ( )

overrideprotectedvirtual

This function is called after the controller is deactivated.

You can use it to deactivate a thread (DO NOT JOIN THREADS!) e.g. via a std::atomic_bool.

Reimplemented from NJointControllerBase.

Reimplemented in NJointTaskspaceObjectCollisionAvoidanceImpedanceController.

Definition at line 973 of file ImpedanceController.cpp.

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◆ rtPreActivateController()

void rtPreActivateController ( )

overrideprotectedvirtual

This function is called before the controller is activated.

You can use it to activate a thread again (DO NOT SPAWN NEW THREADS!) e.g. via a std::atomic_bool.

Reimplemented from NJointControllerBase.

Reimplemented in NJointTaskspaceObjectCollisionAvoidanceImpedanceController, and NJointWipingImpMPController.

Definition at line 958 of file ImpedanceController.cpp.

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◆ rtRun()

void rtRun	(	const IceUtil::Time &	sensorValuesTimestamp,
		const IceUtil::Time &	timeSinceLastIteration )

overridevirtual

TODO make protected and use attorneys.

Implements SynchronousNJointController.

Reimplemented in NJointTaskspaceObjectCollisionAvoidanceImpedanceController.

Definition at line 386 of file ImpedanceController.cpp.

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◆ rtRunCoordinator()

void rtRunCoordinator ( double deltaT )

protected

coordinator

Definition at line 352 of file ImpedanceController.cpp.

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◆ updateConfig()

void updateConfig	(	const ::armarx::aron::data::dto::DictPtr &	dto,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

NJointController interface.

---------------------------— update/get config ----------------------------------------—

Definition at line 409 of file ImpedanceController.cpp.

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◆ updateInputData()

void updateInputData	(	const std::string &	key,
		const Eigen::Matrix4f &	targetPose,
		const PoseFrameMode &	targetPoseMode,
		const Eigen::Matrix4f &	pose,
		const Eigen::Vector6f &	vel,
		const Eigen::Vector6f &	ft,
		const Eigen::Vector6f &	stiffness )

protected

some method for coordinator

Definition at line 324 of file ImpedanceController.cpp.

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◆ updateObjectTargetPose()

void updateObjectTargetPose	(	const FloatSeqSeq &	targetPose,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 818 of file ImpedanceController.cpp.

◆ updateTargetPose()

bool updateTargetPose	(	const TargetPoseMap &	targetPoseMap,
		const TargetNullspaceMap &	targetNullspaceMap,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 524 of file ImpedanceController.cpp.

◆ useCoordinator()

void useCoordinator	(	const std::string &	type,
		const ::armarx::aron::data::dto::DictPtr &	dto,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

TODO think about other types of coordinators

TODO add check if the current controller has all robotNodeSets that the coordinator requires. currently, use check below.

Definition at line 841 of file ImpedanceController.cpp.

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◆ validateConfigData()

void validateConfigData	(	Config &	config,
		ArmPtr &	arm )

protected

Definition at line 556 of file ImpedanceController.cpp.

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Member Data Documentation

◆ controllableNodeSets

std::map<std::string, VirtualRobot::RobotNodeSetPtr> controllableNodeSets

protected

Definition at line 191 of file ImpedanceController.h.

◆ coordinator

std::shared_ptr<common::coordination::SyncCoordination> coordinator = nullptr

protected

Definition at line 195 of file ImpedanceController.h.

◆ coordinatorEnabled

std::atomic_bool coordinatorEnabled = false

protected

coordinator

Definition at line 194 of file ImpedanceController.h.

◆ coordinatorInputData

std::map<std::string, common::coordination::InputData> coordinatorInputData

protected

Definition at line 196 of file ImpedanceController.h.

◆ hands

core::HandControlPtr hands = nullptr

protected

Definition at line 190 of file ImpedanceController.h.

◆ limb

std::map<std::string, ArmPtr> limb

protected

Definition at line 186 of file ImpedanceController.h.

◆ nonRtRobot

VirtualRobot::RobotPtr nonRtRobot

protected

Definition at line 187 of file ImpedanceController.h.

◆ robotUnit

RobotUnitPtr robotUnit

protected

Definition at line 188 of file ImpedanceController.h.

◆ userConfig

ConfigDict userConfig

protected

Definition at line 189 of file ImpedanceController.h.

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

armarx/control/njoint_controller/task_space/ImpedanceController.h
armarx/control/njoint_controller/task_space/ImpedanceController.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ArmPtr

◆ Config

◆ ConfigDict

◆ ConfigPtrT

◆ PoseFrameMode

◆ RtStatus

Constructor & Destructor Documentation

◆ NJointTaskspaceImpedanceController()

Member Function Documentation

◆ additionalTask()

◆ additionalTaskSetTarget()

◆ additionalTaskUpdateStatus()

◆ calibrateFTSensor()

◆ disableCoordinator()

◆ enableSafeGuardForceTorque()

◆ GenerateConfigDescription()

◆ GenerateConfigFromVariants()

◆ getClassName()

◆ getConfig()

◆ getTCPVel()

◆ handleRTNotSafeInNonRT()

◆ isSafeForceTorque()

◆ limbInit()

◆ limbNonRT()

◆ limbPublish()

◆ limbReInit()

◆ limbRT()

◆ limbRTSetTarget()

◆ limbRTUpdateStatus()

◆ onInitNJointController()

◆ onPublish()

◆ onPublishCoordinator()

◆ rtPostDeactivateController()

◆ rtPreActivateController()

◆ rtRun()

◆ rtRunCoordinator()

◆ updateConfig()

◆ updateInputData()

◆ updateObjectTargetPose()

◆ updateTargetPose()

◆ useCoordinator()

◆ validateConfigData()

Member Data Documentation

◆ controllableNodeSets

◆ coordinator

◆ coordinatorEnabled

◆ coordinatorInputData

◆ hands

◆ limb

◆ nonRtRobot

◆ robotUnit

◆ userConfig