TrajectoryFollowingSimulation::Sample Struct Reference

#include <armarx/navigation/simulation/TrajectoryFollowingSimulation.h>

Public Attributes
bool	accelerationSaturated {false}
	True when a limit was binding, i.e. the base could not follow the command.
float	angularAcceleration {0.F}
Eigen::VectorXf	appliedMotorTorques
	Motor torque after clipping [N m]. Only set for OmniWheelTorque.
float	commandedAngular {0.F}
Eigen::Vector2f	commandedLinearLocal {Eigen::Vector2f::Zero()}
	Filtered twist as commanded to the platform, in the robot frame.
Eigen::Vector2f	commandedVelocityGlobal {Eigen::Vector2f::Zero()}
	Commanded linear velocity in the global frame, i.e. what the mass is asked for.
Eigen::VectorXf	commandedWheelVelocities
	Wheel speeds the command asks for [rev/s]. Only set for the omni-wheel model.
float	distanceToGoal {0.F}
	Distance to the last trajectory point [mm].
float	dropPointVelocity {0.F}
	Velocity of the trajectory point the controller is currently tracking.
core::Pose	global_T_robot {core::Pose::Identity()}
float	linearAcceleration {0.F}
	Acceleration actually applied, bounded by PlatformDynamics.
Eigen::ArrayXi	motorSaturated
	Which motors hit their torque bound. Only set for OmniWheelTorque.
float	orientationError {0.F}
float	requiredAngularAcceleration {0.F}
float	requiredLinearAcceleration {0.F}
	Acceleration needed to match the command within one cycle, ignoring the limit.
Eigen::VectorXf	requiredMotorTorques
	Motor torque the command asks for [N m]. Only set for OmniWheelTorque.
Eigen::VectorXf	requiredWheelAccelerations
	Per-wheel acceleration the command asks for [rev/s^2], ignoring the limit.
float	speed {0.F}
float	time {0.F}
float	trackingError {0.F}
	Distance from the robot to the trajectory point it is tracking [mm].
Eigen::Vector2f	velocityGlobal {Eigen::Vector2f::Zero()}
	Achieved linear velocity in the global frame, after the acceleration limit.
Eigen::ArrayXi	wheelSaturated
	Which wheels hit their acceleration bound. Only set for OmniWheelVelocity.
Eigen::ArrayXi	wheelSpeedSaturated
	Which wheels hit their speed bound. Only set for OmniWheelTorque.
Eigen::VectorXf	wheelVelocities
	Wheel speeds actually reached [rev/s]. Only set for the omni-wheel model.

Member Data Documentation

accelerationSaturated

bool accelerationSaturated {false}

True when a limit was binding, i.e. the base could not follow the command.

angularAcceleration

float angularAcceleration {0.F}

appliedMotorTorques

Eigen::VectorXf appliedMotorTorques

Motor torque after clipping [N m]. Only set for OmniWheelTorque.

commandedAngular

float commandedAngular {0.F}

commandedLinearLocal

Eigen::Vector2f commandedLinearLocal {Eigen::Vector2f::Zero()}

Filtered twist as commanded to the platform, in the robot frame.

commandedVelocityGlobal

Eigen::Vector2f commandedVelocityGlobal {Eigen::Vector2f::Zero()}

Commanded linear velocity in the global frame, i.e. what the mass is asked for.

commandedWheelVelocities

Eigen::VectorXf commandedWheelVelocities

Wheel speeds the command asks for [rev/s]. Only set for the omni-wheel model.

distanceToGoal

float distanceToGoal {0.F}

Distance to the last trajectory point [mm].

This is what the controller itself reports as positionError, despite the name.

dropPointVelocity

float dropPointVelocity {0.F}

Velocity of the trajectory point the controller is currently tracking.

global_T_robot

core::Pose global_T_robot {core::Pose::Identity()}

linearAcceleration

float linearAcceleration {0.F}

Acceleration actually applied, bounded by PlatformDynamics.

motorSaturated

Eigen::ArrayXi motorSaturated

Which motors hit their torque bound. Only set for OmniWheelTorque.

orientationError

float orientationError {0.F}

requiredAngularAcceleration

float requiredAngularAcceleration {0.F}

requiredLinearAcceleration

float requiredLinearAcceleration {0.F}

Acceleration needed to match the command within one cycle, ignoring the limit.

requiredMotorTorques

Eigen::VectorXf requiredMotorTorques

Motor torque the command asks for [N m]. Only set for OmniWheelTorque.

requiredWheelAccelerations

Eigen::VectorXf requiredWheelAccelerations

Per-wheel acceleration the command asks for [rev/s^2], ignoring the limit.

speed

float speed {0.F}

time

float time {0.F}

trackingError

float trackingError {0.F}

Distance from the robot to the trajectory point it is tracking [mm].

This is the cross-track error, i.e. how far the robot has drifted off the path.

velocityGlobal

Eigen::Vector2f velocityGlobal {Eigen::Vector2f::Zero()}

Achieved linear velocity in the global frame, after the acceleration limit.

wheelSaturated

Eigen::ArrayXi wheelSaturated

Which wheels hit their acceleration bound. Only set for OmniWheelVelocity.

wheelSpeedSaturated

Eigen::ArrayXi wheelSpeedSaturated

Which wheels hit their speed bound. Only set for OmniWheelTorque.

wheelVelocities

Eigen::VectorXf wheelVelocities

Wheel speeds actually reached [rev/s]. Only set for the omni-wheel model.

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The documentation for this struct was generated from the following file:

• armarx/navigation/simulation/TrajectoryFollowingSimulation.h