List of all members | Public Member Functions | Static Public Attributes
TSAdmController Class Reference

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

+ Inheritance diagram for TSAdmController:

Public Member Functions

void run (Config &c, TSCtrlRtStatus &robotStatus) override
 
- Public Member Functions inherited from TaskspaceController< common::control_law::arondto::TSAdmConfig, common::control_law::arondto::TSAdmConfigDict >
void applyAdmittanceInterface (common::control_law::arondto::TSAdmConfig &c, TSCtrlRtStatus &rtStatus)
 
void applyInverseDynamics (common::control_law::arondto::TSAdmConfig &c, TSCtrlRtStatus &rtStatus)
 
void applyInverseKinematics (common::control_law::arondto::TSAdmConfig &c, TSCtrlRtStatus &rtStatus)
 
void computeInertiaInverse (TSCtrlRtStatus &rtStatus)
 
void firstRun ()
 
void initialize (const VirtualRobot::RobotNodeSetPtr &rns, const VirtualRobot::RobotNodeSetPtr &rtRns)
 
bool isControlModeValid (const std::vector< std::string > &nameList, const std::map< std::string, std::string > &jointControlModeMap)
 
bool isForceTorqueSafe ()
 
void setForceTorqueGuard (bool forceGuard, bool torqueGuard)
 
void updateJacobian (common::control_law::arondto::TSAdmConfig &c, TSCtrlRtStatus &rtStatus)
 
void updateNullspaceForceCommand (common::control_law::arondto::TSAdmConfig &c, TSCtrlRtStatus &rtStatus)
 
void updateNullspaceTwistCommand (common::control_law::arondto::TSAdmConfig &c, TSCtrlRtStatus &rtStatus)
 Admittance.
 
void updateTSAdmittanceCommand (common::control_law::arondto::TSAdmConfig &c, TSCtrlRtStatus &rtStatus)
 Impedance.
 
void updateTSError (common::control_law::arondto::TSAdmConfig &c, TSCtrlRtStatus &rtStatus)
 
void updateTSForceCommand (common::control_law::arondto::TSAdmConfig &c, TSCtrlRtStatus &rtStatus)
 Velocity.
 
void updateTSTwistCommand (common::control_law::arondto::TSAdmConfig &c, TSCtrlRtStatus &rtStatus)
 
void updateTwist (common::control_law::arondto::TSAdmConfig &c, TSCtrlRtStatus &rtStatus)
 
void validate (common::control_law::arondto::TSAdmConfig &c, TSCtrlRtStatus &rtStatus)
 
virtual ~TaskspaceController ()=default
 

Static Public Attributes

static constexpr bool IsCompliant = true
 
static constexpr std::string_view TypeName = "TSAdm"
 

Additional Inherited Members

- Public Types inherited from TaskspaceController< common::control_law::arondto::TSAdmConfig, common::control_law::arondto::TSAdmConfigDict >
using Config
 
using ConfigDict
 
using FTConfig
 
- Public Attributes inherited from TaskspaceController< common::control_law::arondto::TSAdmConfig, common::control_law::arondto::TSAdmConfigDict >
common::ft::FTSensor ftsensor
 
VirtualRobot::RobotNodePtr rtTCP
 
VirtualRobot::RobotNodePtr tcp
 

Detailed Description

Definition at line 146 of file TaskspaceController.h.

Member Function Documentation

◆ run()

void run ( Config & c,
TSCtrlRtStatus & robotStatus )
overridevirtual

Implements TaskspaceController< common::control_law::arondto::TSAdmConfig, common::control_law::arondto::TSAdmConfigDict >.

Definition at line 476 of file TaskspaceController.cpp.

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Member Data Documentation

◆ IsCompliant

bool IsCompliant = true
staticconstexpr

Definition at line 152 of file TaskspaceController.h.

◆ TypeName

std::string_view TypeName = "TSAdm"
staticconstexpr

Definition at line 151 of file TaskspaceController.h.

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