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

Public Types
using	Config

using	ConfigDict

using	FTConfig = common::ft::arondto::FTConfig

Public Member Functions
void	firstRun ()

void	initialize (const VirtualRobot::RobotNodeSetPtr &rns, const VirtualRobot::RobotNodeSetPtr &rtRns, const std::vector< size_t > &torqueControlledIndex, const std::vector< size_t > &velocityControlledIndex)

bool	isControlModeValid (const std::vector< std::string > &nameList, const std::map< std::string, std::string > &jointControlModeMap)

void	preactivateInit (const VirtualRobot::RobotNodeSetPtr &rns)

void	run (Config &c, TSCtrlRtStatus &robotStatus)

Public Attributes
common::ft::FTSensor	ftsensor

std::vector< size_t >	jointIDTorqueMode

std::vector< size_t >	jointIDVelocityMode

VirtualRobot::RobotNodePtr	rtTCP

VirtualRobot::RobotNodePtr	tcp

Detailed Description

Definition at line 36 of file TaskspaceMixedImpedanceVelocityController.h.

Member Typedef Documentation

◆ Config

using Config

Initial value:

common::control_law::arondto::TaskspaceMixedImpedanceVelocityControllerConfig

Definition at line 40 of file TaskspaceMixedImpedanceVelocityController.h.

◆ ConfigDict

using ConfigDict

Initial value:

common::control_law::arondto::TaskspaceMixedImpedanceVelocityControllerConfigDict

Definition at line 42 of file TaskspaceMixedImpedanceVelocityController.h.

◆ FTConfig

using FTConfig = common::ft::arondto::FTConfig

Definition at line 39 of file TaskspaceMixedImpedanceVelocityController.h.

Member Function Documentation

◆ firstRun()

void firstRun ( )

Definition at line 55 of file TaskspaceMixedImpedanceVelocityController.cpp.

◆ initialize()

void initialize	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		const VirtualRobot::RobotNodeSetPtr &	rtRns,
		const std::vector< size_t > &	torqueControlledIndex,
		const std::vector< size_t > &	velocityControlledIndex )

Definition at line 24 of file TaskspaceMixedImpedanceVelocityController.cpp.

◆ isControlModeValid()

bool isControlModeValid	(	const std::vector< std::string > &	nameList,
		const std::map< std::string, std::string > &	jointControlModeMap )

Definition at line 61 of file TaskspaceMixedImpedanceVelocityController.cpp.

◆ preactivateInit()

void preactivateInit ( const VirtualRobot::RobotNodeSetPtr & rns )

Definition at line 49 of file TaskspaceMixedImpedanceVelocityController.cpp.

◆ run()

void run	(	Config &	c,
		TSCtrlRtStatus &	robotStatus )

run in rt thread

-------------------------— safety guard by FT and target pose ---------------------—

this should not be moved to non rt, just in case non rt thread dies, rt still functions as safely

---------------------------— compute jacobi ---------------------------------------—

---------------------------— update velocity/twist --------------------------------—

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

in mm

----------------------------------— Velocity control ------------------------------------------------— calculate pose error between target pose and current pose !!! This is very important: you have to keep position and orientation both with UI unit (meter, radian) to calculate desired Cartesian velocity.

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

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

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

Definition at line 89 of file TaskspaceMixedImpedanceVelocityController.cpp.