ZeroTorqueOrVelocityController Class Reference

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

Public Types
using	Config = arondto::ZeroTorqueOrVelocityControllerConfig
	you can set the following values from outside of the rt controller via Ice interfaces
using	ConfigDict = arondto::ZeroTorqueOrVelocityControllerConfigDict

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)
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

Member Typedef Documentation

Config

using Config = arondto::ZeroTorqueOrVelocityControllerConfig

you can set the following values from outside of the rt controller via Ice interfaces

ConfigDict

using ConfigDict = arondto::ZeroTorqueOrVelocityControllerConfigDict

Member Function Documentation

firstRun()

void firstRun

(

)

initialize()

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

preactivateInit()

void preactivateInit

(

const VirtualRobot::RobotNodeSetPtr &

rns

)

run()

void run	(	Config &	c,
		TSCtrlRtStatus &	robotStatus )

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

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

----------------------------------— Velocity control ------------------------------------------------— TODO add doc

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

--------------------------— write torque/velocity target -----------------------------------------------—

Member Data Documentation

ftsensor

common::ft::FTSensor ftsensor

jointIDTorqueMode

std::vector<size_t> jointIDTorqueMode

jointIDVelocityMode

std::vector<size_t> jointIDVelocityMode

rtTCP

VirtualRobot::RobotNodePtr rtTCP

tcp

VirtualRobot::RobotNodePtr tcp

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

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