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25 #include <VirtualRobot/Robot.h>
33 #include <armarx/control/interface/ConfigurableNJointControllerInterface.h>
34 #include <armarx/control/njoint_controller/task_space/ControllerInterface.h>
57 using ConfigPtrT = ConfigurableNJointControllerConfigPtr;
58 using AronDTO = law::arondto::TaskspaceAdmittanceControllerConfig;
59 using BO = law::TaskspaceAdmittanceController::Config;
62 const NJointControllerConfigPtr& config,
65 std::string
getClassName(
const Ice::Current&)
const override;
74 const Ice::Current& iceCurrent = Ice::emptyCurrent)
override;
98 std::vector<ControlTarget1DoFActuatorTorque*>
targets;
common::control_law::ControlTarget controlTargets
std::atomic_bool reInitPreActivate
TripleBuffer< law::RobotStatus > bufferRtToAdditionalTask
void toggleGravityCompensation(const bool toggle, const Ice::Current &) override
ft sensor
TripleBuffer< BO > bufferUserToRt
std::vector< const SensorValue1DoFActuatorVelocity * > velocitySensors
void rtPostDeactivateController() override
This function is called after the controller is deactivated.
std::vector< const SensorValue1DoFActuatorTorque * > torqueSensors
void onPublish(const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &) override
VirtualRobot::RobotPtr nonRtRobot
NJointControllerConfigPtr ConfigPtrT
void rtPreActivateController() override
This function is called before the controller is activated.
void rtRun(const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) override
TODO make protected and use attorneys.
std::vector< ControlTarget1DoFActuatorTorque * > targets
virtual void additionalTask()
law::arondto::TaskspaceAdmittanceControllerConfig AronDTO
std::string getClassName(const Ice::Current &) const override
law::TaskspaceAdmittanceController::Config BO
Brief description of class NJointTaskspaceAdmittanceController.
TripleBuffer< BO > bufferUserToAdditionalTask
set buffers
namespace armarx::control::common::ft
armarx::core::time::DateTime Time
std::shared_ptr< Dict > DictPtr
void validateConfigData(BO &config)
SensorDevices sensorDevices
void updateConfig(const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
NJointController interface.
std::string kinematicChainName
variables
law::TaskspaceAdmittanceController controller
std::atomic_bool rtFirstRun
std::vector< const SensorValue1DoFActuatorPosition * > positionSensors
void onInitNJointController() override
NJointControllerBase interface.
std::vector< std::string > jointNames
NJointTaskspaceAdmittanceController(const RobotUnitPtr &robotUnit, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &)
std::shared_ptr< class Robot > RobotPtr