This file is part of ArmarX. More...

Namespaces
	control_law
	namespace armarx::control::common::ft

	ft
	This file is part of ArmarX.

	mp
	namespace armarx::control::common::control_law

Classes
class	MultivariateNormal

Enumerations
enum	ControllerType { TSAdmittance, TSImpedance, KptAdmittance, KptImpedance, TSAdmittanceMP, TSImpedanceMP, KptAdmittanceMP, KptImpedanceMP, KVILImpedanceMP, QPWholeBodyImpedance, QPWholeBodyVelocity }

Functions
void	debugEigenPose (StringVariantBaseMap &datafields, const std::string &name, Eigen::Matrix4f pose)

void	debugEigenVec (StringVariantBaseMap &datafields, const std::string &name, Eigen::VectorXf vec)

Eigen::Matrix4f	dVecToMat4 (const mplib::core::DVec &dvec)

PosePtr	dVecToPose (const mplib::core::DVec &dvec)

std::string	dVecToString (const mplib::core::DVec &dvec)

void	from_json (const nlohmann::json &j, Pose &fp)

void	from_json (const nlohmann::json &j, PoseBasePtr &fp)

void	from_json (const nlohmann::json &j, PosePtr &fp)

void	getEigenMatrix (nlohmann::json &userConfig, const std::string &entryName, Eigen::MatrixXf &mat)

Eigen::VectorXf	getEigenVec (nlohmann::json &userConfig, nlohmann::json &defaultConfig, const std::string &entryName, int size, int value)

template<typename T >
void	getEigenVec (nlohmann::json &userConfig, nlohmann::json &defaultConfig, const std::string &entryName, T &vec)

Eigen::VectorXf	getEigenVecWithDefault (nlohmann::json &userConfig, Eigen::VectorXf defaultValue, const std::string &entryName)

void	getError (Eigen::Matrix4f &currentPose, Eigen::Vector3d &targetPosition, Eigen::Quaterniond &targetQuaternion, double &posiError, double &oriError)

template<typename T >
T	getValue (nlohmann::json &userConfig, nlohmann::json &defaultConfig, const std::string &entryName)

template<typename T >
T	getValueWithDefault (nlohmann::json &userConfig, T defaultValue, const std::string &entryName)

mplib::core::DVec	mat4ToDVec (Eigen::Matrix4f &mat)

std::vector< float >	mat4ToFVec (Eigen::Matrix4f &mat)

Eigen::VectorXf	pdf_gradient (const Eigen::VectorXf &mean, float std, const Eigen::VectorXf &x)

mplib::core::DVec	poseToDVec (PosePtr &pose)

std::vector< float >	poseToFVec (PosePtr &pose)

void	to_json (nlohmann::json &j, const Pose &fp)

void	to_json (nlohmann::json &j, const PoseBasePtr &fp)

void	to_json (nlohmann::json &j, const PosePtr &fp)

Eigen::VectorXf	vecToEigen (std::vector< float > &vec)

Variables
const simox::meta::EnumNames< ControllerType >	ControllerTypeNames

const simox::meta::EnumNames< ControllerType >	ControllerTypeShort

Detailed Description

This file is part of ArmarX.

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author: Jianfeng Gao ( jianfeng dot gao at kit dot edu )

Date: 2022

Copyright: http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

Enumeration Type Documentation

◆ ControllerType

enum ControllerType

strong

Enumerator
TSAdmittance
TSImpedance
KptAdmittance
KptImpedance
TSAdmittanceMP
TSImpedanceMP
KptAdmittanceMP
KptImpedanceMP
KVILImpedanceMP
QPWholeBodyImpedance
QPWholeBodyVelocity

Definition at line 29 of file type.h.

Function Documentation

◆ debugEigenPose()

void debugEigenPose	(	StringVariantBaseMap &	datafields,
		const std::string &	name,
		Eigen::Matrix4f	pose
	)

Definition at line 84 of file utils.cpp.

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◆ debugEigenVec()

void debugEigenVec	(	StringVariantBaseMap &	datafields,
		const std::string &	name,
		Eigen::VectorXf	vec
	)

Definition at line 95 of file utils.cpp.

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◆ dVecToMat4()

Eigen::Matrix4f dVecToMat4 ( const mplib::core::DVec & dvec )

Definition at line 162 of file utils.cpp.

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◆ dVecToPose()

PosePtr dVecToPose ( const mplib::core::DVec & dvec )

Definition at line 157 of file utils.cpp.

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◆ dVecToString()

std::string dVecToString ( const mplib::core::DVec & dvec )

Definition at line 228 of file utils.cpp.

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◆ from_json() [1/3]

void from_json	(	const nlohmann::json &	j,
		Pose &	fp
	)

Definition at line 117 of file utils.cpp.

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◆ from_json() [2/3]

void from_json	(	const nlohmann::json &	j,
		PoseBasePtr &	fp
	)

Definition at line 144 of file utils.cpp.

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◆ from_json() [3/3]

void from_json	(	const nlohmann::json &	j,
		PosePtr &	fp
	)

Definition at line 151 of file utils.cpp.

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◆ getEigenMatrix()

void getEigenMatrix	(	nlohmann::json &	userConfig,
		const std::string &	entryName,
		Eigen::MatrixXf &	mat
	)

Definition at line 30 of file utils.cpp.

◆ getEigenVec() [1/2]

Eigen::VectorXf getEigenVec	(	nlohmann::json &	userConfig,
		nlohmann::json &	defaultConfig,
		const std::string &	entryName,
		int	size,
		int	value
	)

Definition at line 10 of file utils.cpp.

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◆ getEigenVec() [2/2]

void armarx::control::common::getEigenVec	(	nlohmann::json &	userConfig,
		nlohmann::json &	defaultConfig,
		const std::string &	entryName,
		T &	vec
	)

Definition at line 38 of file utils.h.

◆ getEigenVecWithDefault()

Eigen::VectorXf getEigenVecWithDefault	(	nlohmann::json &	userConfig,
		Eigen::VectorXf	defaultValue,
		const std::string &	entryName
	)

Definition at line 56 of file utils.cpp.

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◆ getError()

void getError	(	Eigen::Matrix4f &	currentPose,
		Eigen::Vector3d &	targetPosition,
		Eigen::Quaterniond &	targetQuaternion,
		double &	posiError,
		double &	oriError
	)

Definition at line 70 of file utils.cpp.

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◆ getValue()

T armarx::control::common::getValue	(	nlohmann::json &	userConfig,
		nlohmann::json &	defaultConfig,
		const std::string &	entryName
	)

Definition at line 55 of file utils.h.

◆ getValueWithDefault()

T armarx::control::common::getValueWithDefault	(	nlohmann::json &	userConfig,
		T	defaultValue,
		const std::string &	entryName
	)

Definition at line 68 of file utils.h.

◆ mat4ToDVec()

mplib::core::DVec mat4ToDVec ( Eigen::Matrix4f & mat )

Definition at line 182 of file utils.cpp.

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◆ mat4ToFVec()

std::vector< float > mat4ToFVec ( Eigen::Matrix4f & mat )

Definition at line 208 of file utils.cpp.

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◆ pdf_gradient()

Eigen::VectorXf pdf_gradient	(	const Eigen::VectorXf &	mean,
		float	std,
		const Eigen::VectorXf &	x
	)

Definition at line 64 of file math.cpp.

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◆ poseToDVec()

mplib::core::DVec poseToDVec ( PosePtr & pose )

Definition at line 176 of file utils.cpp.

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◆ poseToFVec()

std::vector< float > poseToFVec ( PosePtr & pose )

Definition at line 202 of file utils.cpp.

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◆ to_json() [1/3]

void to_json	(	nlohmann::json &	j,
		const Pose &	fp
	)

Definition at line 103 of file utils.cpp.

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◆ to_json() [2/3]

void to_json	(	nlohmann::json &	j,
		const PoseBasePtr &	fp
	)

Definition at line 136 of file utils.cpp.

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◆ to_json() [3/3]

void to_json	(	nlohmann::json &	j,
		const PosePtr &	fp
	)

Definition at line 128 of file utils.cpp.

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◆ vecToEigen()

Eigen::VectorXf vecToEigen ( std::vector< float > & vec )

Definition at line 238 of file utils.cpp.

Variable Documentation

◆ ControllerTypeNames

const simox::meta::EnumNames<ControllerType> ControllerTypeNames

inline

Initial value:

{
        {ControllerType::TSAdmittance, "NJointTaskspaceAdmittanceController"},
        {ControllerType::TSImpedance, "NJointTaskspaceImpedanceController"},
        {ControllerType::KptAdmittance, "NJointKeypointsAdmittanceController"},
        {ControllerType::KptImpedance, "KeypointImpedance"},
        {ControllerType::TSAdmittanceMP, "NJointTSAdmittanceMPController"},
        {ControllerType::TSImpedanceMP, "NJointTSImpedanceMPController"},
        {ControllerType::KptAdmittanceMP, "NJointKeypointsAdmittanceMPController"},
        {ControllerType::KptImpedanceMP, "NJointKeypointsImpedanceMPController"},
        {ControllerType::KVILImpedanceMP, "NJointKVILImpedanceMPController"}}

Definition at line 58 of file type.h.

◆ ControllerTypeShort

const simox::meta::EnumNames<ControllerType> ControllerTypeShort

inline

Initial value:

{
            {ControllerType::TSAdmittance, "TSAdmittance"},
            {ControllerType::TSImpedance, "TSImpedance"},
            {ControllerType::KptAdmittance, "KeypointAdmittance"},
            {ControllerType::KptImpedance, "KeypointImpedance"},
            {ControllerType::TSAdmittanceMP, "TSAdmittanceMP"},
            {ControllerType::TSImpedanceMP, "TSImpedanceMP"},
            {ControllerType::KptAdmittanceMP, "KeypointAdmittanceMP"},
            {ControllerType::KptImpedanceMP, "KeypointImpedanceMP"},
            {ControllerType::KVILImpedanceMP, "KVILImpedanceMP"},
            {ControllerType::QPWholeBodyImpedance, "QPWholeBodyImpedance"},
            {ControllerType::QPWholeBodyVelocity, "QPWholeBodyVelocity"}}

Definition at line 44 of file type.h.

Namespaces

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ ControllerType

Function Documentation

◆ debugEigenPose()

◆ debugEigenVec()

◆ dVecToMat4()

◆ dVecToPose()

◆ dVecToString()

◆ from_json() [1/3]

◆ from_json() [2/3]

◆ from_json() [3/3]

◆ getEigenMatrix()

◆ getEigenVec() [1/2]

◆ getEigenVec() [2/2]

◆ getEigenVecWithDefault()

◆ getError()

◆ getValue()

◆ getValueWithDefault()

◆ mat4ToDVec()

◆ mat4ToFVec()

◆ pdf_gradient()

◆ poseToDVec()

◆ poseToFVec()

◆ to_json() [1/3]

◆ to_json() [2/3]

◆ to_json() [3/3]

◆ vecToEigen()

Variable Documentation

◆ ControllerTypeNames

◆ ControllerTypeShort