List of all members | Classes | Public Member Functions | Static Public Member Functions
CartesianNaturalPositionControllerProxy Class Reference

#include <RobotAPI/libraries/natik/CartesianNaturalPositionControllerProxy.h>

Classes

struct  DynamicKp
 
struct  KpBaseSettings
 
class  ScopedJointValueRestore
 
struct  VelocityBaseSettings
 
class  Waypoint
 
struct  WaypointConfig
 
struct  WaypointTargets
 

Public Member Functions

void addWaypoint (const Waypoint &waypoint)
 
 CartesianNaturalPositionControllerProxy (const NaturalIK &_ik, const NaturalIK::ArmJoints &arm, const RobotUnitInterfacePrx &_robotUnit, const std::string &_controllerName, NJointCartesianNaturalPositionControllerConfigPtr _config)
 
void cleanup ()
 
void clearWaypoints ()
 
Waypoint createWaypoint (const Eigen::Matrix4f &tcpTarget, std::optional< float > minElbowHeight=std::nullopt)
 
Waypoint createWaypoint (const Eigen::Vector3f &tcpTarget, const std::vector< float > &userNullspaceTargets, std::optional< float > minElbowHeight=std::nullopt)
 
Waypoint createWaypoint (const Eigen::Vector3f &tcpTarget, std::optional< float > minElbowHeight=std::nullopt)
 
Waypoint & currentWaypoint ()
 
void disableFTLimit ()
 
void enableFTLimit (float force, float torque, bool useCurrentFTasOffset)
 
FTSensorValue getAverageFTValue (bool substactOffset)
 
Eigen::Vector3f getCurrentElbowTargetPosition ()
 
FTSensorValue getCurrentFTValue (bool substactOffset)
 
Eigen::Vector3f getCurrentTargetPosition ()
 
DynamicKp getDynamicKp ()
 
float getElbPositionError ()
 
NJointCartesianNaturalPositionControllerInterfacePrx getInternalController ()
 
CartesianNaturalPositionControllerConfig getRuntimeConfig ()
 
std::string getStatusText ()
 
float getTcpOrientationError ()
 
float getTcpPositionError ()
 
void init ()
 
bool isFinalWaypointReached ()
 
bool isLastWaypoint ()
 
void setActivateControllerOnInit (bool value)
 
void setDefaultWaypointConfig (const WaypointConfig &config)
 
void setDynamicKp (DynamicKp dynamicKp)
 
void setMaxVelocities (float referencePosVel)
 
void setNullspaceTarget (const std::vector< float > &nullspaceTargets)
 
void setRuntimeConfig (CartesianNaturalPositionControllerConfig runCfg)
 
bool setTarget (const Eigen::Matrix4f &tcpTarget, NaturalDiffIK::Mode setOri, std::optional< float > minElbowHeight=std::nullopt)
 
void stopClear ()
 
bool update ()
 
void updateBaseKpValues (const CartesianNaturalPositionControllerConfig &runCfg)
 
void useCurrentFTasOffset ()
 

Static Public Member Functions

static std::vector< float > CalculateMaxJointVelocity (const VirtualRobot::RobotNodeSetPtr &rns, float maxPosVel)
 
static NJointCartesianNaturalPositionControllerConfigPtr MakeConfig (const std::string &rns, const std::string &elbowNode)
 
static std::vector< float > ScaleVec (const std::vector< float > &vec, float scale)
 

Detailed Description

Definition at line 39 of file CartesianNaturalPositionControllerProxy.h.

Constructor & Destructor Documentation

◆ CartesianNaturalPositionControllerProxy()

CartesianNaturalPositionControllerProxy ( const NaturalIK &  _ik,
const NaturalIK::ArmJoints &  arm,
const RobotUnitInterfacePrx &  _robotUnit,
const std::string &  _controllerName,
NJointCartesianNaturalPositionControllerConfigPtr  _config 
)

Definition at line 39 of file CartesianNaturalPositionControllerProxy.cpp.

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Member Function Documentation

◆ addWaypoint()

void addWaypoint ( const Waypoint &  waypoint)

Definition at line 306 of file CartesianNaturalPositionControllerProxy.cpp.

◆ CalculateMaxJointVelocity()

std::vector< float > CalculateMaxJointVelocity ( const VirtualRobot::RobotNodeSetPtr &  rns,
float  maxPosVel 
)
static

Definition at line 377 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ cleanup()

void cleanup ( )

Definition at line 461 of file CartesianNaturalPositionControllerProxy.cpp.

◆ clearWaypoints()

void clearWaypoints ( )

Definition at line 352 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ createWaypoint() [1/3]

CartesianNaturalPositionControllerProxy::Waypoint createWaypoint ( const Eigen::Matrix4f &  tcpTarget,
std::optional< float >  minElbowHeight = std::nullopt 
)

Definition at line 339 of file CartesianNaturalPositionControllerProxy.cpp.

◆ createWaypoint() [2/3]

CartesianNaturalPositionControllerProxy::Waypoint createWaypoint ( const Eigen::Vector3f &  tcpTarget,
const std::vector< float > &  userNullspaceTargets,
std::optional< float >  minElbowHeight = std::nullopt 
)

Definition at line 317 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ createWaypoint() [3/3]

CartesianNaturalPositionControllerProxy::Waypoint createWaypoint ( const Eigen::Vector3f &  tcpTarget,
std::optional< float >  minElbowHeight = std::nullopt 
)

Definition at line 326 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ currentWaypoint()

CartesianNaturalPositionControllerProxy::Waypoint & currentWaypoint ( )

Definition at line 511 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ disableFTLimit()

void disableFTLimit ( )

Definition at line 211 of file CartesianNaturalPositionControllerProxy.cpp.

◆ enableFTLimit()

void enableFTLimit ( float  force,
float  torque,
bool  useCurrentFTasOffset 
)

Definition at line 199 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ getAverageFTValue()

armarx::FTSensorValue getAverageFTValue ( bool  substactOffset)

Definition at line 230 of file CartesianNaturalPositionControllerProxy.cpp.

◆ getCurrentElbowTargetPosition()

Eigen::Vector3f getCurrentElbowTargetPosition ( )

Definition at line 158 of file CartesianNaturalPositionControllerProxy.cpp.

◆ getCurrentFTValue()

FTSensorValue getCurrentFTValue ( bool  substactOffset)

Definition at line 218 of file CartesianNaturalPositionControllerProxy.cpp.

◆ getCurrentTargetPosition()

Eigen::Vector3f getCurrentTargetPosition ( )

Definition at line 152 of file CartesianNaturalPositionControllerProxy.cpp.

◆ getDynamicKp()

CartesianNaturalPositionControllerProxy::DynamicKp getDynamicKp ( )

Definition at line 537 of file CartesianNaturalPositionControllerProxy.cpp.

◆ getElbPositionError()

float getElbPositionError ( )

Definition at line 180 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ getInternalController()

NJointCartesianNaturalPositionControllerInterfacePrx getInternalController ( )

Definition at line 524 of file CartesianNaturalPositionControllerProxy.cpp.

◆ getRuntimeConfig()

CartesianNaturalPositionControllerConfig getRuntimeConfig ( )

Definition at line 300 of file CartesianNaturalPositionControllerProxy.cpp.

◆ getStatusText()

std::string getStatusText ( )

Definition at line 366 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ getTcpOrientationError()

float getTcpOrientationError ( )

Definition at line 170 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ getTcpPositionError()

float getTcpPositionError ( )

Definition at line 164 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ init()

void init ( )

Definition at line 88 of file CartesianNaturalPositionControllerProxy.cpp.

◆ isFinalWaypointReached()

bool isFinalWaypointReached ( )

Definition at line 186 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ isLastWaypoint()

bool isLastWaypoint ( )

Definition at line 518 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ MakeConfig()

NJointCartesianNaturalPositionControllerConfigPtr MakeConfig ( const std::string &  rns,
const std::string &  elbowNode 
)
static

Definition at line 77 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ ScaleVec()

std::vector< float > ScaleVec ( const std::vector< float > &  vec,
float  scale 
)
static

Definition at line 406 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ setActivateControllerOnInit()

void setActivateControllerOnInit ( bool  value)

Definition at line 417 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ setDefaultWaypointConfig()

void setDefaultWaypointConfig ( const WaypointConfig &  config)

Definition at line 359 of file CartesianNaturalPositionControllerProxy.cpp.

◆ setDynamicKp()

void setDynamicKp ( DynamicKp  dynamicKp)

Definition at line 530 of file CartesianNaturalPositionControllerProxy.cpp.

◆ setMaxVelocities()

void setMaxVelocities ( float  referencePosVel)

Definition at line 423 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ setNullspaceTarget()

void setNullspaceTarget ( const std::vector< float > &  nullspaceTargets)

Definition at line 143 of file CartesianNaturalPositionControllerProxy.cpp.

◆ setRuntimeConfig()

void setRuntimeConfig ( CartesianNaturalPositionControllerConfig  runCfg)

Definition at line 292 of file CartesianNaturalPositionControllerProxy.cpp.

◆ setTarget()

bool setTarget ( const Eigen::Matrix4f &  tcpTarget,
NaturalDiffIK::Mode  setOri,
std::optional< float >  minElbowHeight = std::nullopt 
)

Definition at line 111 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ stopClear()

void stopClear ( )

Definition at line 242 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ update()

bool update ( )

Definition at line 477 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ updateBaseKpValues()

void updateBaseKpValues ( const CartesianNaturalPositionControllerConfig &  runCfg)

Definition at line 447 of file CartesianNaturalPositionControllerProxy.cpp.

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◆ useCurrentFTasOffset()

void useCurrentFTasOffset ( )

Definition at line 192 of file CartesianNaturalPositionControllerProxy.cpp.

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