CartesianPositionController Class Reference

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

Public Member Functions
Eigen::VectorXf	calculate (const Eigen::Matrix4f &targetPose, VirtualRobot::IKSolver::CartesianSelection mode) const
Eigen::VectorXf	calculatePos (const Eigen::Vector3f &targetPos) const
	CartesianPositionController (CartesianPositionController &&)=default
	CartesianPositionController (const VirtualRobot::RobotNodePtr &tcp, const VirtualRobot::RobotNodePtr &referenceFrame=nullptr)
Eigen::Vector3f	getOrientationDiff (const Eigen::Matrix4f &targetPose) const
float	getOrientationError (const Eigen::Matrix4f &targetPose) const
Eigen::Vector3f	getPositionDiff (const Eigen::Matrix4f &targetPose) const
Eigen::Vector3f	getPositionDiffVec3 (const Eigen::Vector3f &targetPosition) const
float	getPositionError (const Eigen::Matrix4f &targetPose) const
VirtualRobot::RobotNodePtr	getTcp () const
CartesianPositionController &	operator= (CartesianPositionController &&)=default
bool	reached (const Eigen::Matrix4f &targetPose, VirtualRobot::IKSolver::CartesianSelection mode, float thresholdPosReached, float thresholdOriReached)

Static Public Member Functions
static float	GetOrientationError (const Eigen::Matrix4f &targetPose, const VirtualRobot::RobotNodePtr &tcp, const VirtualRobot::RobotNodePtr &referenceFrame=nullptr)
static float	GetPositionError (const Eigen::Matrix4f &targetPose, const VirtualRobot::RobotNodePtr &tcp, const VirtualRobot::RobotNodePtr &referenceFrame=nullptr)
static bool	Reached (const Eigen::Matrix4f &targetPose, const VirtualRobot::RobotNodePtr &tcp, bool checkOri, float thresholdPosReached, float thresholdOriReached, const VirtualRobot::RobotNodePtr &referenceFrame=nullptr)

Public Attributes
float	KpOri = 1
float	KpPos = 1
float	maxOriVel = -1
float	maxPosVel = -1

Constructor & Destructor Documentation

CartesianPositionController() [1/2]

CartesianPositionController	(	const VirtualRobot::RobotNodePtr &	tcp,
		const VirtualRobot::RobotNodePtr &	referenceFrame = nullptr )

CartesianPositionController() [2/2]

CartesianPositionController ( CartesianPositionController && )

default

Member Function Documentation

calculate()

Eigen::VectorXf calculate	(	const Eigen::Matrix4f &	targetPose,
		VirtualRobot::IKSolver::CartesianSelection	mode ) const

calculatePos()

Eigen::VectorXf calculatePos

(

const Eigen::Vector3f &

targetPos

)

const

getOrientationDiff()

Eigen::Vector3f getOrientationDiff

(

const Eigen::Matrix4f &

targetPose

)

const

GetOrientationError()

float GetOrientationError ( const Eigen::Matrix4f & targetPose, const VirtualRobot::RobotNodePtr & tcp, const VirtualRobot::RobotNodePtr & referenceFrame = nullptr )

static

getOrientationError()

float getOrientationError

(

const Eigen::Matrix4f &

targetPose

)

const

getPositionDiff()

Eigen::Vector3f getPositionDiff

(

const Eigen::Matrix4f &

targetPose

)

const

getPositionDiffVec3()

Eigen::Vector3f getPositionDiffVec3

(

const Eigen::Vector3f &

targetPosition

)

const

GetPositionError()

float GetPositionError ( const Eigen::Matrix4f & targetPose, const VirtualRobot::RobotNodePtr & tcp, const VirtualRobot::RobotNodePtr & referenceFrame = nullptr )

static

getPositionError()

float getPositionError

(

const Eigen::Matrix4f &

targetPose

)

const

getTcp()

VirtualRobot::RobotNodePtr getTcp

(

)

const

operator=()

CartesianPositionController & operator= ( CartesianPositionController && )

default

Reached()

bool Reached ( const Eigen::Matrix4f & targetPose, const VirtualRobot::RobotNodePtr & tcp, bool checkOri, float thresholdPosReached, float thresholdOriReached, const VirtualRobot::RobotNodePtr & referenceFrame = nullptr )

static

reached()

bool reached	(	const Eigen::Matrix4f &	targetPose,
		VirtualRobot::IKSolver::CartesianSelection	mode,
		float	thresholdPosReached,
		float	thresholdOriReached )

Member Data Documentation

KpOri

float KpOri = 1

KpPos

float KpPos = 1

maxOriVel

float maxOriVel = -1

maxPosVel

float maxPosVel = -1

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

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