#include <RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h>

Classes
struct	NullspaceOptimizationArgs

Public Member Functions
void	addWaypoint (const Eigen::Matrix4f &waypoint)

void	clearFeedForwardVelocity ()

const Eigen::Matrix4f &	getCurrentTarget () const

const Eigen::Vector3f	getCurrentTargetPosition () const

float	getOrientationError () const

float	getPositionError () const

std::string	getStatusText ()

void	immediateHardStop (bool clearTargets=true)

bool	isCurrentTargetNear () const

bool	isCurrentTargetReached () const

bool	isFinalTargetNear () const

bool	isFinalTargetReached () const

bool	isLastWaypoint () const

	PositionControllerHelper (const VirtualRobot::RobotNodePtr &tcp, const VelocityControllerHelperPtr &velocityControllerHelper, const Eigen::Matrix4f &target)

	PositionControllerHelper (const VirtualRobot::RobotNodePtr &tcp, const VelocityControllerHelperPtr &velocityControllerHelper, const std::vector< Eigen::Matrix4f > &waypoints)

	PositionControllerHelper (const VirtualRobot::RobotNodePtr &tcp, const VelocityControllerHelperPtr &velocityControllerHelper, const std::vector< PosePtr > &waypoints)

void	readConfig (const CartesianPositionControllerConfigBase &config)

void	readConfig (const CartesianPositionControllerConfigBasePtr &config)

void	setFeedForwardVelocity (const Eigen::Vector3f &feedForwardVelocityPos, const Eigen::Vector3f &feedForwardVelocityOri)

void	setFeedForwardVelocity (const Eigen::Vector6f &feedForwardVelocity)

void	setNewWaypoints (const std::vector< Eigen::Matrix4f > &waypoints)

void	setNewWaypoints (const std::vector< PosePtr > &waypoints)

void	setNullSpaceControl (bool enabled)

void	setTarget (const Eigen::Matrix4f &target)

size_t	skipToClosestWaypoint (float rad2mmFactor)

void	update ()

void	updateRead ()

void	updateWrite ()

Static Public Member Functions
static bool	OptimizeNullspace (const VirtualRobot::RobotNodePtr &tcp, const VirtualRobot::RobotNodeSetPtr &rns, const Eigen::Matrix4f &target, const NullspaceOptimizationArgs &args=NullspaceOptimizationArgs())
	OptimizeNullspace.

Public Attributes
bool	autoClearFeedForward = true

size_t	currentWaypointIndex = 0

Eigen::Vector6f	feedForwardVelocity = Eigen::Vector6f::Zero()

CartesianPositionController	posController

float	thresholdOrientationNear = 0

float	thresholdOrientationReached = 0

float	thresholdPositionNear = 0

float	thresholdPositionReached = 0

VelocityControllerHelperPtr	velocityControllerHelper

std::vector< Eigen::Matrix4f >	waypoints

Constructor & Destructor Documentation

◆ PositionControllerHelper() [1/3]

PositionControllerHelper	(	const VirtualRobot::RobotNodePtr &	tcp,
		const VelocityControllerHelperPtr &	velocityControllerHelper,
		const Eigen::Matrix4f &	target )

◆ PositionControllerHelper() [2/3]

PositionControllerHelper	(	const VirtualRobot::RobotNodePtr &	tcp,
		const VelocityControllerHelperPtr &	velocityControllerHelper,
		const std::vector< Eigen::Matrix4f > &	waypoints )

◆ PositionControllerHelper() [3/3]

PositionControllerHelper	(	const VirtualRobot::RobotNodePtr &	tcp,
		const VelocityControllerHelperPtr &	velocityControllerHelper,
		const std::vector< PosePtr > &	waypoints )

Member Function Documentation

◆ addWaypoint()

void addWaypoint ( const Eigen::Matrix4f & waypoint )

◆ clearFeedForwardVelocity()

void clearFeedForwardVelocity ( )

◆ getCurrentTarget()

const Eigen::Matrix4f & getCurrentTarget ( ) const

◆ getCurrentTargetPosition()

const Eigen::Vector3f getCurrentTargetPosition ( ) const

◆ getOrientationError()

float getOrientationError ( ) const

◆ getPositionError()

float getPositionError ( ) const

◆ getStatusText()

std::string getStatusText ( )

◆ immediateHardStop()

void immediateHardStop ( bool clearTargets = true )

◆ isCurrentTargetNear()

bool isCurrentTargetNear ( ) const

◆ isCurrentTargetReached()

bool isCurrentTargetReached ( ) const

◆ isFinalTargetNear()

bool isFinalTargetNear ( ) const

◆ isFinalTargetReached()

bool isFinalTargetReached ( ) const

◆ isLastWaypoint()

bool isLastWaypoint ( ) const

◆ OptimizeNullspace()

bool OptimizeNullspace	(	const VirtualRobot::RobotNodePtr &	tcp,
		const VirtualRobot::RobotNodeSetPtr &	rns,
		const Eigen::Matrix4f &	target,
		const NullspaceOptimizationArgs &	args = NullspaceOptimizationArgs() )

static

OptimizeNullspace.

Parameters

tcp
rns
target	target pose in root frame of the robot
args

Returns

◆ readConfig() [1/2]

void readConfig ( const CartesianPositionControllerConfigBase & config )

◆ readConfig() [2/2]

void readConfig ( const CartesianPositionControllerConfigBasePtr & config )

◆ setFeedForwardVelocity() [1/2]

void setFeedForwardVelocity	(	const Eigen::Vector3f &	feedForwardVelocityPos,
		const Eigen::Vector3f &	feedForwardVelocityOri )

◆ setFeedForwardVelocity() [2/2]

void setFeedForwardVelocity ( const Eigen::Vector6f & feedForwardVelocity )

◆ setNewWaypoints() [1/2]

void setNewWaypoints ( const std::vector< Eigen::Matrix4f > & waypoints )

◆ setNewWaypoints() [2/2]

void setNewWaypoints ( const std::vector< PosePtr > & waypoints )

◆ setNullSpaceControl()

void setNullSpaceControl ( bool enabled )

◆ setTarget()

void setTarget ( const Eigen::Matrix4f & target )

◆ skipToClosestWaypoint()

size_t skipToClosestWaypoint ( float rad2mmFactor )

◆ update()

void update ( )

◆ updateRead()

void updateRead ( )

◆ updateWrite()

void updateWrite ( )

Member Data Documentation

◆ autoClearFeedForward

bool autoClearFeedForward = true

◆ currentWaypointIndex

size_t currentWaypointIndex = 0

◆ feedForwardVelocity

Eigen::Vector6f feedForwardVelocity = Eigen::Vector6f::Zero()

◆ posController

CartesianPositionController posController

◆ thresholdOrientationNear

float thresholdOrientationNear = 0

◆ thresholdOrientationReached

float thresholdOrientationReached = 0

◆ thresholdPositionNear

float thresholdPositionNear = 0

◆ thresholdPositionReached

float thresholdPositionReached = 0

◆ velocityControllerHelper

VelocityControllerHelperPtr velocityControllerHelper

◆ waypoints

std::vector<Eigen::Matrix4f> waypoints

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

RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h
RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.cpp

Classes

Public Member Functions

Static Public Member Functions

Public Attributes