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

Public Member Functions
Eigen::VectorXf	actualElbVel (const Eigen::VectorXf &jointVel)

Eigen::VectorXf	actualTcpVel (const Eigen::VectorXf &jointVel)

const Eigen::VectorXf	calculate (float dt, VirtualRobot::IKSolver::CartesianSelection mode=VirtualRobot::IKSolver::All)

const Eigen::VectorXf	calculateNullspaceTargetDifference ()

	CartesianNaturalPositionController (const VirtualRobot::RobotNodeSetPtr &rns, const VirtualRobot::RobotNodePtr &elbow, float maxPositionAcceleration, float maxOrientationAcceleration, float maxNullspaceAcceleration, const VirtualRobot::RobotNodePtr &tcp=nullptr)

void	clearFeedForwardVelocity ()

void	clearNullspaceTarget ()

const Eigen::Vector3f &	getCurrentElbowTarget () const

const Eigen::VectorXf &	getCurrentNullspaceTarget () const

const Eigen::Matrix4f &	getCurrentTarget () const

const Eigen::Vector3f	getCurrentTargetPosition () const

float	getOrientationError () const

float	getPositionError () const

std::string	getStatusText ()

bool	hasNullspaceTarget () const

bool	isTargetNear () const

bool	isTargetReached () const

void	setConfig (const CartesianNaturalPositionControllerConfig &cfg)

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

void	setFeedForwardVelocity (const Eigen::Vector6f &feedForwardVelocity)

void	setNullSpaceControl (bool enabled)

void	setNullspaceTarget (const Eigen::VectorXf &nullspaceTarget)

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

void	setTarget (const Eigen::Matrix4f &tcpTarget, const Eigen::Vector3f &elbowTarget)

Static Public Member Functions
static Eigen::VectorXf	LimitInfNormTo (const Eigen::VectorXf &vec, const std::vector< float > &maxValue)

Public Attributes
bool	autoClearFeedForward = true

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

Eigen::Vector3f	elbowTarget

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

float	jointLimitAvoidanceKp = 0.f

float	jointLimitAvoidanceScale = 0.f

Eigen::VectorXf	lastJointVelocity

std::vector< float >	maxJointVelocity

std::vector< float >	maxNullspaceVelocity

bool	nullSpaceControlEnabled = true

Eigen::VectorXf	nullspaceTarget = Eigen::VectorXf(0)

float	nullspaceTargetKp = 0

CartesianPositionController	pcElb

CartesianPositionController	pcTcp

Eigen::Matrix4f	tcpTarget

float	thresholdOrientationNear = 0.f

float	thresholdOrientationReached = 0.f

float	thresholdPositionNear = 0.f

float	thresholdPositionReached = 0.f

CartesianVelocityController	vcElb

CartesianVelocityControllerWithRamp	vcTcp

Constructor & Destructor Documentation

◆ CartesianNaturalPositionController()

CartesianNaturalPositionController	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		const VirtualRobot::RobotNodePtr &	elbow,
		float	maxPositionAcceleration,
		float	maxOrientationAcceleration,
		float	maxNullspaceAcceleration,
		const VirtualRobot::RobotNodePtr &	tcp = nullptr )

Member Function Documentation

◆ actualElbVel()

Eigen::VectorXf actualElbVel ( const Eigen::VectorXf & jointVel )

◆ actualTcpVel()

Eigen::VectorXf actualTcpVel ( const Eigen::VectorXf & jointVel )

◆ calculate()

const Eigen::VectorXf calculate	(	float	dt,
		VirtualRobot::IKSolver::CartesianSelection	mode = VirtualRobot::IKSolver::All )

◆ calculateNullspaceTargetDifference()

const Eigen::VectorXf calculateNullspaceTargetDifference ( )

◆ clearFeedForwardVelocity()

void clearFeedForwardVelocity ( )

◆ clearNullspaceTarget()

void clearNullspaceTarget ( )

◆ getCurrentElbowTarget()

const Eigen::Vector3f & getCurrentElbowTarget ( ) const

◆ getCurrentNullspaceTarget()

const Eigen::VectorXf & getCurrentNullspaceTarget ( ) const

◆ getCurrentTarget()

const Eigen::Matrix4f & getCurrentTarget ( ) const

◆ getCurrentTargetPosition()

const Eigen::Vector3f getCurrentTargetPosition ( ) const

◆ getOrientationError()

float getOrientationError ( ) const

◆ getPositionError()

float getPositionError ( ) const

◆ getStatusText()

std::string getStatusText ( )

◆ hasNullspaceTarget()

bool hasNullspaceTarget ( ) const

◆ isTargetNear()

bool isTargetNear ( ) const

◆ isTargetReached()

bool isTargetReached ( ) const

◆ LimitInfNormTo()

Eigen::VectorXf LimitInfNormTo	(	const Eigen::VectorXf &	vec,
		const std::vector< float > &	maxValue )

static

◆ setConfig()

void setConfig ( const CartesianNaturalPositionControllerConfig & cfg )

◆ 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 )

◆ setNullspaceTarget() [1/2]

void setNullspaceTarget ( const Eigen::VectorXf & nullspaceTarget )

◆ setNullspaceTarget() [2/2]

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

◆ setTarget()

void setTarget	(	const Eigen::Matrix4f &	tcpTarget,
		const Eigen::Vector3f &	elbowTarget )

Member Data Documentation

◆ autoClearFeedForward

bool autoClearFeedForward = true

◆ cartesianVelocity

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

◆ elbowTarget

Eigen::Vector3f elbowTarget

◆ feedForwardVelocity

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

◆ jointLimitAvoidanceKp

float jointLimitAvoidanceKp = 0.f

◆ jointLimitAvoidanceScale

float jointLimitAvoidanceScale = 0.f

◆ lastJointVelocity

Eigen::VectorXf lastJointVelocity

◆ maxJointVelocity

std::vector<float> maxJointVelocity

◆ maxNullspaceVelocity

std::vector<float> maxNullspaceVelocity

◆ nullSpaceControlEnabled

bool nullSpaceControlEnabled = true

◆ nullspaceTarget

Eigen::VectorXf nullspaceTarget = Eigen::VectorXf(0)

◆ nullspaceTargetKp

float nullspaceTargetKp = 0

◆ pcElb

CartesianPositionController pcElb

◆ pcTcp

CartesianPositionController pcTcp

◆ tcpTarget

Eigen::Matrix4f tcpTarget

◆ thresholdOrientationNear

float thresholdOrientationNear = 0.f

◆ thresholdOrientationReached

float thresholdOrientationReached = 0.f

◆ thresholdPositionNear

float thresholdPositionNear = 0.f

◆ thresholdPositionReached

float thresholdPositionReached = 0.f

◆ vcElb

CartesianVelocityController vcElb

◆ vcTcp

CartesianVelocityControllerWithRamp vcTcp

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

RobotAPI/libraries/core/CartesianNaturalPositionController.h
RobotAPI/libraries/core/CartesianNaturalPositionController.cpp

Public Member Functions

Static Public Member Functions

Public Attributes