List of all members | Public Member Functions | Static Public Member Functions | Public Attributes
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
 

Detailed Description

Definition at line 42 of file CartesianPositionController.h.

Constructor & Destructor Documentation

◆ CartesianPositionController() [1/2]

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

Definition at line 37 of file CartesianPositionController.cpp.

◆ CartesianPositionController() [2/2]

CartesianPositionController ( CartesianPositionController &&  )
default

Member Function Documentation

◆ calculate()

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

Definition at line 45 of file CartesianPositionController.cpp.

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◆ calculatePos()

Eigen::VectorXf calculatePos ( const Eigen::Vector3f &  targetPos) const

Definition at line 87 of file CartesianPositionController.cpp.

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◆ getOrientationDiff()

Eigen::Vector3f getOrientationDiff ( const Eigen::Matrix4f &  targetPose) const

Definition at line 196 of file CartesianPositionController.cpp.

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◆ getOrientationError()

float getOrientationError ( const Eigen::Matrix4f &  targetPose) const

Definition at line 110 of file CartesianPositionController.cpp.

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◆ GetOrientationError()

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

Definition at line 129 of file CartesianPositionController.cpp.

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◆ getPositionDiff()

Eigen::Vector3f getPositionDiff ( const Eigen::Matrix4f &  targetPose) const

Definition at line 182 of file CartesianPositionController.cpp.

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◆ getPositionDiffVec3()

Eigen::Vector3f getPositionDiffVec3 ( const Eigen::Vector3f &  targetPosition) const

Definition at line 190 of file CartesianPositionController.cpp.

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◆ getPositionError()

float getPositionError ( const Eigen::Matrix4f &  targetPose) const

Definition at line 104 of file CartesianPositionController.cpp.

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◆ GetPositionError()

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

Definition at line 116 of file CartesianPositionController.cpp.

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◆ getTcp()

VirtualRobot::RobotNodePtr getTcp ( ) const

Definition at line 207 of file CartesianPositionController.cpp.

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◆ 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

Definition at line 145 of file CartesianPositionController.cpp.

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◆ reached()

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

Definition at line 158 of file CartesianPositionController.cpp.

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Member Data Documentation

◆ KpOri

float KpOri = 1

Definition at line 81 of file CartesianPositionController.h.

◆ KpPos

float KpPos = 1

Definition at line 80 of file CartesianPositionController.h.

◆ maxOriVel

float maxOriVel = -1

Definition at line 83 of file CartesianPositionController.h.

◆ maxPosVel

float maxPosVel = -1

Definition at line 82 of file CartesianPositionController.h.

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