CartesianWaypointController Class Reference

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

Public Member Functions
void	addWaypoint (const Eigen::Matrix4f &waypoint)
const Eigen::VectorXf &	calculate (float dt)
	CartesianWaypointController (const VirtualRobot::RobotNodeSetPtr &rns, const Eigen::VectorXf &currentJointVelocity, float maxPositionAcceleration, float maxOrientationAcceleration, float maxNullspaceAcceleration, const VirtualRobot::RobotNodePtr &tcp=nullptr, const VirtualRobot::RobotNodePtr &referenceFrame=nullptr)
void	clearFeedForwardVelocity ()
const Eigen::Matrix4f &	getCurrentTarget () const
const Eigen::Vector3f	getCurrentTargetPosition () const
float	getOrientationError () const
float	getPositionError () const
std::string	getStatusText ()
bool	isCurrentTargetNear () const
bool	isCurrentTargetReached () const
bool	isFinalTargetNear () const
bool	isFinalTargetReached () const
bool	isLastWaypoint () const
void	setConfig (const CartesianWaypointControllerConfig &cfg)
void	setCurrentJointVelocity (const Eigen::Ref< const Eigen::VectorXf > &currentJointVelocity)
void	setFeedForwardVelocity (const Eigen::Vector3f &feedForwardVelocityPos, const Eigen::Vector3f &feedForwardVelocityOri)
void	setFeedForwardVelocity (const Eigen::Vector6f &feedForwardVelocity)
void	setNullSpaceControl (bool enabled)
void	setTarget (const Eigen::Matrix4f &target)
void	setWaypoints (const std::vector< Eigen::Matrix4f > &waypoints)
size_t	skipToClosestWaypoint (float rad2mmFactor)
void	swapWaypoints (std::vector< Eigen::Matrix4f > &waypoints)

Public Attributes
bool	autoClearFeedForward = true
Eigen::Vector6f	cartesianVelocity = Eigen::Vector6f::Zero()
CartesianPositionController	ctrlCartesianPos2Vel
CartesianVelocityControllerWithRamp	ctrlCartesianVelWithRamps
size_t	currentWaypointIndex = 0.f
Eigen::Vector6f	feedForwardVelocity = Eigen::Vector6f::Zero()
float	jointLimitAvoidanceScale = 0.f
float	KpJointLimitAvoidance = 0.f
bool	nullSpaceControlEnabled = true
float	thresholdOrientationNear = 0.f
float	thresholdOrientationReached = 0.f
float	thresholdPositionNear = 0.f
float	thresholdPositionReached = 0.f
std::vector< Eigen::Matrix4f >	waypoints

Constructor & Destructor Documentation

CartesianWaypointController()

CartesianWaypointController	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		const Eigen::VectorXf &	currentJointVelocity,
		float	maxPositionAcceleration,
		float	maxOrientationAcceleration,
		float	maxNullspaceAcceleration,
		const VirtualRobot::RobotNodePtr &	tcp = nullptr,
		const VirtualRobot::RobotNodePtr &	referenceFrame = nullptr )

Member Function Documentation

addWaypoint()

void addWaypoint

(

const Eigen::Matrix4f &

waypoint

)

calculate()

const Eigen::VectorXf & calculate

(

float

dt

)

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

(

)

isCurrentTargetNear()

bool isCurrentTargetNear

(

)

const

isCurrentTargetReached()

bool isCurrentTargetReached

(

)

const

isFinalTargetNear()

bool isFinalTargetNear

(

)

const

isFinalTargetReached()

bool isFinalTargetReached

(

)

const

isLastWaypoint()

bool isLastWaypoint

(

)

const

setConfig()

void setConfig

(

const CartesianWaypointControllerConfig &

cfg

)

setCurrentJointVelocity()

void setCurrentJointVelocity

(

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

currentJointVelocity

)

setFeedForwardVelocity() [1/2]

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

setFeedForwardVelocity() [2/2]

void setFeedForwardVelocity

(

const Eigen::Vector6f &

feedForwardVelocity

)

setNullSpaceControl()

void setNullSpaceControl

(

bool

enabled

)

setTarget()

void setTarget

(

const Eigen::Matrix4f &

target

)

setWaypoints()

void setWaypoints

(

const std::vector< Eigen::Matrix4f > &

waypoints

)

skipToClosestWaypoint()

size_t skipToClosestWaypoint

(

float

rad2mmFactor

)

swapWaypoints()

void swapWaypoints

(

std::vector< Eigen::Matrix4f > &

waypoints

)

Member Data Documentation

autoClearFeedForward

bool autoClearFeedForward = true

cartesianVelocity

Eigen::Vector6f cartesianVelocity = Eigen::Vector6f::Zero()

ctrlCartesianPos2Vel

CartesianPositionController ctrlCartesianPos2Vel

ctrlCartesianVelWithRamps

CartesianVelocityControllerWithRamp ctrlCartesianVelWithRamps

currentWaypointIndex

size_t currentWaypointIndex = 0.f

feedForwardVelocity

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

jointLimitAvoidanceScale

float jointLimitAvoidanceScale = 0.f

KpJointLimitAvoidance

float KpJointLimitAvoidance = 0.f

nullSpaceControlEnabled

bool nullSpaceControlEnabled = true

thresholdOrientationNear

float thresholdOrientationNear = 0.f

thresholdOrientationReached

float thresholdOrientationReached = 0.f

thresholdPositionNear

float thresholdPositionNear = 0.f

thresholdPositionReached

float thresholdPositionReached = 0.f

waypoints

std::vector<Eigen::Matrix4f> waypoints

---

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

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