This file is part of ArmarX. More...

Namespaces
	control_law
	This file is part of ArmarX.

	ft
	This file is part of ArmarX.

	mp
	This file is part of ArmarX.

Classes
class	MultivariateNormal

struct	SensorDevicesForNJointTorqueController

Enumerations
enum	ControllerType { TSAdm, TSImp, TSImpSafe, TSImpCol, TSAdmCol, TSMixImpVel, TSVel, TSMixImpVelCol, TSMPAdm, TSMPImp, TSMPImpCol, TSMPImpSafe, TSMPMixImpVel, TSMPVel, TSMPMixImpVelCol, QPWholeBodyImpedance, QPWholeBodyVelocity, WholeBodyTrajectoryController }

enum	MPStatus { reset, trained, running, paused, finished }

enum	MPType { taskspace, nullsapce, hand }

Functions
void	addViaPoint (mp::arondto::MPConfig &cfg, const double &canValue, const Eigen::Matrix4f &viaPose)

void	addViaPoint (mp::arondto::MPConfig &cfg, const double &canValue, const Eigen::VectorXf &viaPoint)

void	addViaPoint (mp::arondto::MPConfig &cfg, const double &canValue, const std::vector< double > &viaPoint)

void	addViaPoint (mp::arondto::MPConfig &cfg, const double &canValue, const std::vector< float > &viaPoint)

void	appendToViapointList (std::vector< mp::arondto::ListViaPoint > &vpList, const double canonicalValue, const Eigen::Matrix4f &viaPose)

void	appendToViapointList (std::vector< mp::arondto::ListViaPoint > &vpList, const double canonicalValue, const Eigen::VectorXf &viaPoint)

void	appendToViapointList (std::vector< mp::arondto::ListViaPoint > &vpList, const double canonicalValue, const std::vector< double > &viaPoint)

void	appendToViapointList (std::vector< mp::arondto::ListViaPoint > &vpList, const double canonicalValue, const std::vector< float > &viaPoint)

mp::arondto::MPTraj	createDummyTraj (const int dimension, const int timesteps=100)
	create a dummy trajectory that only has zeros for every dimension. More...

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

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

void	debugStdVec (StringVariantBaseMap &datafields, const std::string &name, std::vector< float > vec)

bool	detectAndReportPoseDeviationWarning (const Eigen::Matrix4f &pose1, const Eigen::Matrix4f &pose2, const std::string &namePose1, const std::string &namePose2, float positionThrMM, float angleThrDeg, const std::string &who)

Eigen::Matrix4f	dVecToMat4 (const mplib::core::DVec &dvec)
	create Eigen:Matrix4f from 7D double vector. More...

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)

mp::arondto::MPConfig	getDefaultMPConfig (MPType mpType, const std::string &name, const std::string &nodeSetName, const double &durationSec, const std::vector< mp::arondto::MPTraj > &mpTraj, const std::vector< mp::arondto::ListViaPoint > &viaPointList)

mp::arondto::MPConfig	getDefaultMPConfig (MPType mpType, const std::string &name, const std::string &nodeSetName, const double &durationSec, const std::vector< std::string > &mpTraj, const std::vector< mp::arondto::ListViaPoint > &viaPointList)

float	getDeltaAngleBetweenPose (const Eigen::Matrix4f &pose1, const Eigen::Matrix4f &pose2)

float	getDeltaAngleBetweenRotMat (const Eigen::Matrix3f &rotMat1, const Eigen::Matrix3f &rotMat2)

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)

Eigen::Block< Eigen::Matrix4f, 3, 3 >	getOri (Eigen::Matrix4f &matrix)

Eigen::Block< Eigen::Matrix4f, 3, 1 >	getPos (Eigen::Matrix4f &matrix)

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 (const Eigen::Matrix4f &mat)
	convert Eigen:Matrix4f to 7D double vector. More...

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

Eigen::Matrix3f	mirrorLeftRightOri (Eigen::Matrix3f &sourcePose)

Eigen::Matrix4f	mirrorLeftRightOri (Eigen::Matrix4f &sourcePose)

Eigen::Matrix4f	mirrorLeftRightPose (Eigen::Matrix4f &sourcePose)

mp::arondto::MPTraj	mpTrajFromFile (std::string filepath, bool containsHeader, bool noTimeStamp)

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

bool	poseDeviationTooLarge (const Eigen::Matrix4f &currentPose, const Eigen::Matrix4f &desiredPose, float positionThrMM, float angleThrDeg)

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

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

void	reportPoseDeviationWarning (const std::string &who, const Eigen::Matrix4f &pose1, const Eigen::Matrix4f &pose2, const std::string &namePose1, const std::string &namePose2)

std::string	sVecToString (const std::vector< std::string > &vec, const std::string &delimiter)

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

const simox::meta::EnumNames< MPType >	mpTypeToString

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
TSAdm
TSImp
TSImpSafe
TSImpCol
TSAdmCol
TSMixImpVel
TSVel
TSMixImpVelCol
TSMPAdm
TSMPImp
TSMPImpCol
TSMPImpSafe
TSMPMixImpVel
TSMPVel
TSMPMixImpVelCol
QPWholeBodyImpedance
QPWholeBodyVelocity
WholeBodyTrajectoryController

Definition at line 29 of file type.h.

◆ MPStatus

enum MPStatus

strong

Enumerator
reset
trained
running
paused
finished

Definition at line 71 of file type.h.

◆ MPType

enum MPType

strong

Enumerator
taskspace
nullsapce
hand

Definition at line 59 of file type.h.

Function Documentation

◆ addViaPoint() [1/4]

void addViaPoint	(	mp::arondto::MPConfig &	cfg,
		const double &	canValue,
		const Eigen::Matrix4f &	viaPose
	)

Definition at line 498 of file utils.cpp.

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◆ addViaPoint() [2/4]

void addViaPoint	(	mp::arondto::MPConfig &	cfg,
		const double &	canValue,
		const Eigen::VectorXf &	viaPoint
	)

Definition at line 487 of file utils.cpp.

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◆ addViaPoint() [3/4]

void addViaPoint	(	mp::arondto::MPConfig &	cfg,
		const double &	canValue,
		const std::vector< double > &	viaPoint
	)

Definition at line 463 of file utils.cpp.

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◆ addViaPoint() [4/4]

void addViaPoint	(	mp::arondto::MPConfig &	cfg,
		const double &	canValue,
		const std::vector< float > &	viaPoint
	)

Definition at line 474 of file utils.cpp.

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◆ appendToViapointList() [1/4]

void appendToViapointList	(	std::vector< mp::arondto::ListViaPoint > &	vpList,
		const double	canonicalValue,
		const Eigen::Matrix4f &	viaPose
	)

Definition at line 542 of file utils.cpp.

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◆ appendToViapointList() [2/4]

void appendToViapointList	(	std::vector< mp::arondto::ListViaPoint > &	vpList,
		const double	canonicalValue,
		const Eigen::VectorXf &	viaPoint
	)

Definition at line 529 of file utils.cpp.

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◆ appendToViapointList() [3/4]

void appendToViapointList	(	std::vector< mp::arondto::ListViaPoint > &	vpList,
		const double	canonicalValue,
		const std::vector< double > &	viaPoint
	)

Definition at line 505 of file utils.cpp.

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◆ appendToViapointList() [4/4]

void appendToViapointList	(	std::vector< mp::arondto::ListViaPoint > &	vpList,
		const double	canonicalValue,
		const std::vector< float > &	viaPoint
	)

Definition at line 516 of file utils.cpp.

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◆ createDummyTraj()

mp::arondto::MPTraj createDummyTraj	(	const int	dimension,
		const int	timesteps = `100`
	)

create a dummy trajectory that only has zeros for every dimension.

Parameters

dimension	the dimension of the trajectory, e.g. 7d for taskspace and Nd for N-joint kinematic chain.
timesteps	the total number of timesteps in the trajectory

Returns: the MPTraj instance

Note that, we you use this to configure MPs and execute it after, you'll have to set a proper start and goal for it, either set them in the MPListConfig for the corresponding MP and call startAll(), or use start("MPName", start, goal, duration_second). Otherwise, the MP will assume the first and last timestep being the start and goal, which are all zeros and therefore wrong for your task.

Definition at line 414 of file utils.cpp.

◆ debugEigenPose()

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

Definition at line 113 of file utils.cpp.

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◆ debugEigenVec()

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

Definition at line 125 of file utils.cpp.

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◆ debugStdVec()

void debugStdVec	(	StringVariantBaseMap &	datafields,
		const std::string &	name,
		std::vector< float >	vec
	)

Definition at line 134 of file utils.cpp.

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◆ detectAndReportPoseDeviationWarning()

bool detectAndReportPoseDeviationWarning	(	const Eigen::Matrix4f &	pose1,
		const Eigen::Matrix4f &	pose2,
		const std::string &	namePose1,
		const std::string &	namePose2,
		float	positionThrMM,
		float	angleThrDeg,
		const std::string &	who
	)

Definition at line 600 of file utils.cpp.

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◆ dVecToMat4()

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

create Eigen:Matrix4f from 7D double vector.

Parameters

dvec	[x, y, z, qw, qx, qy, qz] format

Returns: Eigen::Matrix4f \in SE(3)

Note that, the order of the quaternion elements follows w, x, y, z format

Definition at line 218 of file utils.cpp.

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◆ dVecToPose()

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

Definition at line 212 of file utils.cpp.

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◆ dVecToString()

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

Definition at line 289 of file utils.cpp.

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◆ from_json() [1/3]

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

Definition at line 155 of file utils.cpp.

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◆ from_json() [2/3]

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

Definition at line 185 of file utils.cpp.

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◆ from_json() [3/3]

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

Definition at line 193 of file utils.cpp.

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◆ getDefaultMPConfig() [1/2]

mp::arondto::MPConfig getDefaultMPConfig	(	MPType	mpType,
		const std::string &	name,
		const std::string &	nodeSetName,
		const double &	durationSec,
		const std::vector< mp::arondto::MPTraj > &	mpTraj,
		const std::vector< mp::arondto::ListViaPoint > &	viaPointList
	)

Definition at line 423 of file utils.cpp.

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◆ getDefaultMPConfig() [2/2]

mp::arondto::MPConfig getDefaultMPConfig	(	MPType	mpType,
		const std::string &	name,
		const std::string &	nodeSetName,
		const double &	durationSec,
		const std::vector< std::string > &	mpTraj,
		const std::vector< mp::arondto::ListViaPoint > &	viaPointList
	)

Definition at line 447 of file utils.cpp.

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◆ getDeltaAngleBetweenPose()

float getDeltaAngleBetweenPose	(	const Eigen::Matrix4f &	pose1,
		const Eigen::Matrix4f &	pose2
	)

Definition at line 563 of file utils.cpp.

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◆ getDeltaAngleBetweenRotMat()

float getDeltaAngleBetweenRotMat	(	const Eigen::Matrix3f &	rotMat1,
		const Eigen::Matrix3f &	rotMat2
	)

Definition at line 551 of file utils.cpp.

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◆ getEigenMatrix()

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

Definition at line 49 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 23 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 47 of file utils.h.

◆ getEigenVecWithDefault()

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

Definition at line 76 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 94 of file utils.cpp.

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◆ getOri()

Eigen::Block< Eigen::Matrix4f, 3, 3 > getOri ( Eigen::Matrix4f & matrix )

Definition at line 200 of file utils.cpp.

◆ getPos()

Eigen::Block< Eigen::Matrix4f, 3, 1 > getPos ( Eigen::Matrix4f & matrix )

Definition at line 206 of file utils.cpp.

◆ getValue()

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

Definition at line 71 of file utils.h.

◆ getValueWithDefault()

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

Definition at line 87 of file utils.h.

◆ mat4ToDVec()

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

convert Eigen:Matrix4f to 7D double vector.

Parameters

mat	Eigen::Matrix4f \in SE(3)

Returns: vector of format [x, y, z, qw, qx, qy, qz]

Note that, the order of the quaternion elements follows w, x, y, z format

Definition at line 240 of file utils.cpp.

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◆ mat4ToFVec()

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

Definition at line 268 of file utils.cpp.

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◆ mirrorLeftRightOri() [1/2]

Eigen::Matrix3f mirrorLeftRightOri ( Eigen::Matrix3f & sourcePose )

Definition at line 635 of file utils.cpp.

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◆ mirrorLeftRightOri() [2/2]

Eigen::Matrix4f mirrorLeftRightOri ( Eigen::Matrix4f & sourcePose )

Definition at line 628 of file utils.cpp.

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◆ mirrorLeftRightPose()

Eigen::Matrix4f mirrorLeftRightPose ( Eigen::Matrix4f & sourcePose )

Definition at line 621 of file utils.cpp.

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◆ mpTrajFromFile()

armarx::control::common::mp::arondto::MPTraj mpTrajFromFile	(	std::string	filepath,
		bool	containsHeader,
		bool	noTimeStamp
	)

Definition at line 321 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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◆ poseDeviationTooLarge()

bool poseDeviationTooLarge	(	const Eigen::Matrix4f &	currentPose,
		const Eigen::Matrix4f &	desiredPose,
		float	positionThrMM,
		float	angleThrDeg
	)

Definition at line 570 of file utils.cpp.

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◆ poseToDVec()

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

Definition at line 233 of file utils.cpp.

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◆ poseToFVec()

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

Definition at line 261 of file utils.cpp.

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◆ reportPoseDeviationWarning()

void reportPoseDeviationWarning	(	const std::string &	who,
		const Eigen::Matrix4f &	pose1,
		const Eigen::Matrix4f &	pose2,
		const std::string &	namePose1,
		const std::string &	namePose2
	)

Definition at line 581 of file utils.cpp.

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◆ sVecToString()

std::string sVecToString	(	const std::vector< std::string > &	vec,
		const std::string &	delimiter
	)

Definition at line 306 of file utils.cpp.

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◆ to_json() [1/3]

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

Definition at line 143 of file utils.cpp.

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◆ to_json() [2/3]

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

Definition at line 176 of file utils.cpp.

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◆ to_json() [3/3]

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

Definition at line 167 of file utils.cpp.

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◆ vecToEigen()

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

Definition at line 300 of file utils.cpp.

Variable Documentation

◆ ControllerTypeNames

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

inline

Initial value:

{
        {ControllerType::TSAdm, "NJointTaskspaceAdmittanceController"},
        {ControllerType::TSImp, "NJointTaskspaceImpedanceController"},
        {ControllerType::TSImpSafe, "NJointTaskspaceSafetyImpedanceController"},
        {ControllerType::TSImpCol, "NJointTaskspaceCollisionAvoidanceImpedanceController"},
        {ControllerType::TSMixImpVel, "NJointTaskspaceMixedImpedanceVelocityController"},
        {ControllerType::TSVel, "NJointTaskspaceVelocityController"},
        {ControllerType::TSMixImpVelCol,
         "NJointTaskspaceCollisionAvoidanceMixedImpedanceVelocityController"},
        
        
        {ControllerType::TSMPAdm, "NJointTSAdmittanceMPController"},
        {ControllerType::TSMPImp, "NJointTSImpedanceMPController"},
        {ControllerType::TSMPImpCol, "NJointTSCollisionAvoidanceImpedanceMPController"},
        {ControllerType::TSMPImpSafe, "NJointTSSafetyImpedanceMPController"},
        {ControllerType::TSMPMixImpVel, "NJointTSMixedImpedanceVelocityMPController"},
        {ControllerType::TSMPVel, "NJointTSVelocityMPController"},
        {ControllerType::TSMPMixImpVelCol, "NJointTSCollisionAvoidanceMixedImpedanceVelocityMP"},
        
        
        
        
        {ControllerType::WholeBodyTrajectoryController, "NJointWholeBodyTrajectoryController"}}

Definition at line 110 of file type.h.

◆ ControllerTypeShort

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

inline

Initial value:

{
        {ControllerType::TSAdm, "TSAdm"},
        {ControllerType::TSImp, "TSImp"},
        {ControllerType::TSImpSafe, "TSImpSafe"},
        {ControllerType::TSImpCol, "TSImpCol"},
        {ControllerType::TSMixImpVel, "TSMixImpVel"},
        {ControllerType::TSVel, "TSVel"},
        {ControllerType::TSMixImpVelCol, "TSMixImpVelCol"},
        
        
        {ControllerType::TSMPAdm, "TSMPAdm"},
        {ControllerType::TSMPImp, "TSMPImp"},
        {ControllerType::TSMPImpCol, "TSMPImpCol"},
        {ControllerType::TSMPImpSafe, "TSMPImpSafe"},
        {ControllerType::TSMPMixImpVel, "TSMPMixImpVel"},
        {ControllerType::TSMPVel, "TSMPVel"},
        {ControllerType::TSMPMixImpVelCol, "TSMPMixImpVelCol"},
        
        
        
        
        {ControllerType::QPWholeBodyImpedance, "QPWholeBodyImpedance"},
        {ControllerType::QPWholeBodyVelocity, "QPWholeBodyVelocity"},
        {ControllerType::WholeBodyTrajectoryController, "WholeBodyTrajectoryController"}}

Definition at line 84 of file type.h.

◆ mpTypeToString

const simox::meta::EnumNames<MPType> mpTypeToString

inline

Initial value:

= {{MPType::taskspace, "taskspace"},
                                                                  {MPType::nullsapce, "nullspace"},
                                                                  {MPType::hand, "hand"}}

Definition at line 80 of file type.h.

Namespaces

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ ControllerType

◆ MPStatus

◆ MPType

Function Documentation

◆ addViaPoint() [1/4]

◆ addViaPoint() [2/4]

◆ addViaPoint() [3/4]

◆ addViaPoint() [4/4]

◆ appendToViapointList() [1/4]

◆ appendToViapointList() [2/4]

◆ appendToViapointList() [3/4]

◆ appendToViapointList() [4/4]

◆ createDummyTraj()

◆ debugEigenPose()

◆ debugEigenVec()

◆ debugStdVec()

◆ detectAndReportPoseDeviationWarning()

◆ dVecToMat4()

◆ dVecToPose()

◆ dVecToString()

◆ from_json() [1/3]

◆ from_json() [2/3]

◆ from_json() [3/3]

◆ getDefaultMPConfig() [1/2]

◆ getDefaultMPConfig() [2/2]

◆ getDeltaAngleBetweenPose()

◆ getDeltaAngleBetweenRotMat()

◆ getEigenMatrix()

◆ getEigenVec() [1/2]

◆ getEigenVec() [2/2]

◆ getEigenVecWithDefault()

◆ getError()

◆ getOri()

◆ getPos()

◆ getValue()

◆ getValueWithDefault()

◆ mat4ToDVec()

◆ mat4ToFVec()

◆ mirrorLeftRightOri() [1/2]

◆ mirrorLeftRightOri() [2/2]

◆ mirrorLeftRightPose()

◆ mpTrajFromFile()

◆ pdf_gradient()

◆ poseDeviationTooLarge()

◆ poseToDVec()

◆ poseToFVec()

◆ reportPoseDeviationWarning()

◆ sVecToString()

◆ to_json() [1/3]

◆ to_json() [2/3]

◆ to_json() [3/3]

◆ vecToEigen()

Variable Documentation

◆ ControllerTypeNames

◆ ControllerTypeShort

◆ mpTypeToString