CartesianVelocityControllerWithRamp Class Reference

#include <RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h>

Public Member Functions
Eigen::VectorXf	calculate (const Eigen::VectorXf &cartesianVel, const Eigen::VectorXf &nullspaceVel, float dt)
Eigen::VectorXf	calculate (const Eigen::VectorXf &cartesianVel, float jointLimitAvoidanceScale, float dt)
	CartesianVelocityControllerWithRamp (CartesianVelocityControllerWithRamp &&)=default
	CartesianVelocityControllerWithRamp (const VirtualRobot::RobotNodeSetPtr &rns, const Eigen::VectorXf &currentJointVelocity, VirtualRobot::IKSolver::CartesianSelection mode, float maxPositionAcceleration, float maxOrientationAcceleration, float maxNullspaceAcceleration, const VirtualRobot::RobotNodePtr &tcp=nullptr)
float	getMaxNullspaceAcceleration ()
float	getMaxOrientationAcceleration ()
float	getMaxPositionAcceleration ()
VirtualRobot::IKSolver::CartesianSelection	getMode ()
CartesianVelocityControllerWithRamp &	operator= (CartesianVelocityControllerWithRamp &&)=default
void	setCurrentJointVelocity (const Eigen::Ref< const Eigen::VectorXf > &currentJointVelocity)
void	setMaxAccelerations (float maxPositionAcceleration, float maxOrientationAcceleration, float maxNullspaceAcceleration)
void	switchMode (const Eigen::VectorXf &currentJointVelocity, VirtualRobot::IKSolver::CartesianSelection mode)

Public Attributes
CartesianVelocityController	controller

Detailed Description

Definition at line 41 of file CartesianVelocityControllerWithRamp.h.

Constructor & Destructor Documentation

CartesianVelocityControllerWithRamp() [1/2]

CartesianVelocityControllerWithRamp	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		const Eigen::VectorXf &	currentJointVelocity,
		VirtualRobot::IKSolver::CartesianSelection	mode,
		float	maxPositionAcceleration,
		float	maxOrientationAcceleration,
		float	maxNullspaceAcceleration,
		const VirtualRobot::RobotNodePtr &	tcp = nullptr
	)

Definition at line 34 of file CartesianVelocityControllerWithRamp.cpp.

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CartesianVelocityControllerWithRamp() [2/2]

CartesianVelocityControllerWithRamp ( CartesianVelocityControllerWithRamp &&  )

default

Member Function Documentation

calculate() [1/2]

Eigen::VectorXf calculate	(	const Eigen::VectorXf &	cartesianVel,
		const Eigen::VectorXf &	nullspaceVel,
		float	dt
	)

Definition at line 99 of file CartesianVelocityControllerWithRamp.cpp.

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calculate() [2/2]

Eigen::VectorXf calculate	(	const Eigen::VectorXf &	cartesianVel,
		float	jointLimitAvoidanceScale,
		float	dt
	)

Definition at line 89 of file CartesianVelocityControllerWithRamp.cpp.

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getMaxNullspaceAcceleration()

float getMaxNullspaceAcceleration

(

)

Definition at line 132 of file CartesianVelocityControllerWithRamp.cpp.

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getMaxOrientationAcceleration()

float getMaxOrientationAcceleration

(

)

Definition at line 120 of file CartesianVelocityControllerWithRamp.cpp.

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getMaxPositionAcceleration()

float getMaxPositionAcceleration

(

)

Definition at line 126 of file CartesianVelocityControllerWithRamp.cpp.

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getMode()

VirtualRobot::IKSolver::CartesianSelection getMode

(

)

Definition at line 83 of file CartesianVelocityControllerWithRamp.cpp.

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operator=()

CartesianVelocityControllerWithRamp& operator= ( CartesianVelocityControllerWithRamp &&  )

default

setCurrentJointVelocity()

void setCurrentJointVelocity

(

const Eigen::Ref< const Eigen::VectorXf > &

currentJointVelocity

)

Definition at line 53 of file CartesianVelocityControllerWithRamp.cpp.

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setMaxAccelerations()

void setMaxAccelerations	(	float	maxPositionAcceleration,
		float	maxOrientationAcceleration,
		float	maxNullspaceAcceleration
	)

Definition at line 110 of file CartesianVelocityControllerWithRamp.cpp.

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switchMode()

void switchMode	(	const Eigen::VectorXf &	currentJointVelocity,
		VirtualRobot::IKSolver::CartesianSelection	mode
	)

Definition at line 74 of file CartesianVelocityControllerWithRamp.cpp.

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Member Data Documentation

controller

CartesianVelocityController controller

Definition at line 79 of file CartesianVelocityControllerWithRamp.h.

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

• RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h
• RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.cpp