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

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 )

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 )

calculate() [2/2]

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

getMaxNullspaceAcceleration()

float getMaxNullspaceAcceleration

(

)

getMaxOrientationAcceleration()

float getMaxOrientationAcceleration

(

)

getMaxPositionAcceleration()

float getMaxPositionAcceleration

(

)

getMode()

VirtualRobot::IKSolver::CartesianSelection getMode

(

)

operator=()

CartesianVelocityControllerWithRamp & operator= ( CartesianVelocityControllerWithRamp && )

default

setCurrentJointVelocity()

void setCurrentJointVelocity

(

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

currentJointVelocity

)

setMaxAccelerations()

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

switchMode()

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

Member Data Documentation

controller

CartesianVelocityController controller

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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