r2_controller_ns::R2ImpedanceController::CtrlCalc Class Reference

#include <r2_impedance_controller.h>

List of all members.

Classes
class	AvgV
	median filter for noisy values More...
Public Member Functions
void	activate (TreeChain &tc, bool &flag, Eigen::Matrix< double, 7, 1 > &pose_cmd)
	sets cartesian mode for TreeChain, pose_cmd is filled with current position
void	calculate ()
void	init (double gravity[3])
KDL::JntArray	jointDCmd (const std::vector< double > &qd)
KDL::JntArray	jointKCmd (const std::vector< double > &q)
void	reactivate ()
	sets gains based on which cartesian modes are active
Public Attributes
std::vector< double >	cartD_left
std::vector< double >	cartD_right
std::vector< double >	cartK_left
std::vector< double >	cartK_right
std::vector< double >	D
std::vector< double >	D_high
std::vector< double >	D_low
std::vector< double >	desired
std::vector< double >	desiredVel
std::vector< std::string >	idx2name
int	jnt_size
std::vector< double >	jntsCenterPoint
std::vector< double >	jntsLowerLimit
std::vector< double >	jntsUpperLimit
std::vector< int >	joint_pos_control
std::vector< int >	joint_vel_control
std::vector< double >	K
std::vector< double >	K_high
std::vector< double >	K_low
TreeChain	left
bool	left_cart
bool	left_cart_vel
Eigen::Matrix< double, 7, 1 >	leftCmd
	desired pose [cartPos(x,y,z), quaternion(w,x,y,z) ]
KDL::Twist	leftVelCmd
std::map< std::string, int >	name2idx
TreeChain	neck
bool	neck_cart
bool	neck_cart_vel
Eigen::Matrix< double, 7, 1 >	neckCmd
KDL::Twist	neckVelCmd
TreeChain	right
bool	right_cart
bool	right_cart_vel
Eigen::Matrix< double, 7, 1 >	rightCmd
KDL::Twist	rightVelCmd
boost::scoped_ptr < KDL::TreeIdSolver >	rne_calc
KDL::Tree	robot_tree
std::string	root_name
	non-ros subclass which performs the torque calculations
KDL::JntArray	torques
std::vector< double >	treeJnts
std::vector< AvgV< 3 > >	treeJntsAvg
std::vector< double >	treeJntsVel
std::vector< AvgV< 3 > >	treeJntsVelAvg
WholeBodyCalc	wbc

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Detailed Description

Definition at line 116 of file r2_impedance_controller.h.

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Member Function Documentation

void R2ImpedanceController::CtrlCalc::activate	(	TreeChain &	tc,
		bool &	flag,
		Eigen::Matrix< double, 7, 1 > &	pose_cmd
	)

sets cartesian mode for TreeChain, pose_cmd is filled with current position

Definition at line 751 of file r2_impedance_controller.cpp.

void R2ImpedanceController::CtrlCalc::calculate

(

)

Definition at line 859 of file r2_impedance_controller.cpp.

void R2ImpedanceController::CtrlCalc::init

(

double

gravity[3]

)

Definition at line 168 of file r2_impedance_controller.cpp.

KDL::JntArray R2ImpedanceController::CtrlCalc::jointDCmd

(

const std::vector< double > &

qd

)

Definition at line 788 of file r2_impedance_controller.cpp.

KDL::JntArray R2ImpedanceController::CtrlCalc::jointKCmd

(

const std::vector< double > &

q

)

Definition at line 777 of file r2_impedance_controller.cpp.

void R2ImpedanceController::CtrlCalc::reactivate

(

)

sets gains based on which cartesian modes are active

Definition at line 761 of file r2_impedance_controller.cpp.

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Member Data Documentation

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::cartD_left

Definition at line 159 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::cartD_right

Definition at line 160 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::cartK_left

Definition at line 157 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::cartK_right

Definition at line 158 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::D

Definition at line 151 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::D_high

Definition at line 147 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::D_low

Definition at line 148 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::desired

Definition at line 153 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::desiredVel

Definition at line 154 of file r2_impedance_controller.h.

std::vector<std::string> r2_controller_ns::R2ImpedanceController::CtrlCalc::idx2name

Definition at line 199 of file r2_impedance_controller.h.

int r2_controller_ns::R2ImpedanceController::CtrlCalc::jnt_size

Definition at line 155 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::jntsCenterPoint

Definition at line 197 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::jntsLowerLimit

Definition at line 196 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::jntsUpperLimit

Definition at line 195 of file r2_impedance_controller.h.

std::vector<int> r2_controller_ns::R2ImpedanceController::CtrlCalc::joint_pos_control

Definition at line 141 of file r2_impedance_controller.h.

std::vector<int> r2_controller_ns::R2ImpedanceController::CtrlCalc::joint_vel_control

Definition at line 142 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::K

Definition at line 152 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::K_high

Definition at line 149 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::K_low

Definition at line 150 of file r2_impedance_controller.h.

TreeChain r2_controller_ns::R2ImpedanceController::CtrlCalc::left

Definition at line 123 of file r2_impedance_controller.h.

bool r2_controller_ns::R2ImpedanceController::CtrlCalc::left_cart

Definition at line 135 of file r2_impedance_controller.h.

bool r2_controller_ns::R2ImpedanceController::CtrlCalc::left_cart_vel

Definition at line 136 of file r2_impedance_controller.h.

Eigen::Matrix<double,7,1> r2_controller_ns::R2ImpedanceController::CtrlCalc::leftCmd

desired pose [cartPos(x,y,z), quaternion(w,x,y,z) ]

Definition at line 128 of file r2_impedance_controller.h.

KDL::Twist r2_controller_ns::R2ImpedanceController::CtrlCalc::leftVelCmd

Definition at line 131 of file r2_impedance_controller.h.

std::map< std::string, int> r2_controller_ns::R2ImpedanceController::CtrlCalc::name2idx

Definition at line 198 of file r2_impedance_controller.h.

TreeChain r2_controller_ns::R2ImpedanceController::CtrlCalc::neck

Definition at line 125 of file r2_impedance_controller.h.

bool r2_controller_ns::R2ImpedanceController::CtrlCalc::neck_cart

Definition at line 139 of file r2_impedance_controller.h.

bool r2_controller_ns::R2ImpedanceController::CtrlCalc::neck_cart_vel

Definition at line 140 of file r2_impedance_controller.h.

Eigen::Matrix<double,7,1> r2_controller_ns::R2ImpedanceController::CtrlCalc::neckCmd

Definition at line 130 of file r2_impedance_controller.h.

KDL::Twist r2_controller_ns::R2ImpedanceController::CtrlCalc::neckVelCmd

Definition at line 133 of file r2_impedance_controller.h.

TreeChain r2_controller_ns::R2ImpedanceController::CtrlCalc::right

Definition at line 124 of file r2_impedance_controller.h.

bool r2_controller_ns::R2ImpedanceController::CtrlCalc::right_cart

Definition at line 137 of file r2_impedance_controller.h.

bool r2_controller_ns::R2ImpedanceController::CtrlCalc::right_cart_vel

Definition at line 138 of file r2_impedance_controller.h.

Eigen::Matrix<double,7,1> r2_controller_ns::R2ImpedanceController::CtrlCalc::rightCmd

Definition at line 129 of file r2_impedance_controller.h.

KDL::Twist r2_controller_ns::R2ImpedanceController::CtrlCalc::rightVelCmd

Definition at line 132 of file r2_impedance_controller.h.

boost::scoped_ptr<KDL::TreeIdSolver> r2_controller_ns::R2ImpedanceController::CtrlCalc::rne_calc

Definition at line 203 of file r2_impedance_controller.h.

KDL::Tree r2_controller_ns::R2ImpedanceController::CtrlCalc::robot_tree

Definition at line 122 of file r2_impedance_controller.h.

std::string r2_controller_ns::R2ImpedanceController::CtrlCalc::root_name

non-ros subclass which performs the torque calculations

base of chains, currently both the same

Definition at line 119 of file r2_impedance_controller.h.

KDL::JntArray r2_controller_ns::R2ImpedanceController::CtrlCalc::torques

Definition at line 201 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::treeJnts

Definition at line 193 of file r2_impedance_controller.h.

std::vector< AvgV<3> > r2_controller_ns::R2ImpedanceController::CtrlCalc::treeJntsAvg

Definition at line 190 of file r2_impedance_controller.h.

std::vector<double> r2_controller_ns::R2ImpedanceController::CtrlCalc::treeJntsVel

Definition at line 194 of file r2_impedance_controller.h.

std::vector< AvgV<3> > r2_controller_ns::R2ImpedanceController::CtrlCalc::treeJntsVelAvg

Definition at line 191 of file r2_impedance_controller.h.

WholeBodyCalc r2_controller_ns::R2ImpedanceController::CtrlCalc::wbc

Definition at line 144 of file r2_impedance_controller.h.

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

• r2_impedance_controller.h
• r2_impedance_controller.cpp