List of all members | Public Types | Public Member Functions | Public Attributes
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
 

Detailed Description

Definition at line 34 of file ZeroTorqueOrVelocityController.h.

Member Typedef Documentation

◆ Config

using Config = arondto::ZeroTorqueOrVelocityControllerConfig

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

Definition at line 61 of file ZeroTorqueOrVelocityController.h.

◆ ConfigDict

using ConfigDict = arondto::ZeroTorqueOrVelocityControllerConfigDict

Definition at line 62 of file ZeroTorqueOrVelocityController.h.

Member Function Documentation

◆ firstRun()

void firstRun ( )

Definition at line 49 of file ZeroTorqueOrVelocityController.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 19 of file ZeroTorqueOrVelocityController.cpp.

◆ preactivateInit()

void preactivateInit ( const VirtualRobot::RobotNodeSetPtr & rns)

Definition at line 44 of file ZeroTorqueOrVelocityController.cpp.

◆ 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 -----------------------------------------------—

Definition at line 106 of file ZeroTorqueOrVelocityController.cpp.

Member Data Documentation

◆ ftsensor

common::ft::FTSensor ftsensor

Definition at line 111 of file ZeroTorqueOrVelocityController.h.

◆ jointIDTorqueMode

std::vector<size_t> jointIDTorqueMode

Definition at line 113 of file ZeroTorqueOrVelocityController.h.

◆ jointIDVelocityMode

std::vector<size_t> jointIDVelocityMode

Definition at line 114 of file ZeroTorqueOrVelocityController.h.

◆ rtTCP

VirtualRobot::RobotNodePtr rtTCP

Definition at line 110 of file ZeroTorqueOrVelocityController.h.

◆ tcp

VirtualRobot::RobotNodePtr tcp

Definition at line 109 of file ZeroTorqueOrVelocityController.h.

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