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urdf::JointSafety Class Reference

Parameters for Joint Safety Controllers. More...

#include <joint.h>

List of all members.

Public Member Functions

void clear ()
bool initXml (TiXmlElement *config)
 JointSafety ()
 clear variables on construction

Public Attributes

double k_position
double k_velocity
double soft_lower_limit
double soft_upper_limit

Detailed Description

Parameters for Joint Safety Controllers.

Definition at line 86 of file joint.h.

Constructor & Destructor Documentation

clear variables on construction

Definition at line 90 of file joint.h.

Member Function Documentation

void urdf::JointSafety::clear ( ) [inline]

Definition at line 128 of file joint.h.

bool urdf::JointSafety::initXml ( TiXmlElement *  config)

Member Data Documentation

Definition at line 125 of file joint.h.

Definition at line 126 of file joint.h.

Definition at line 124 of file joint.h.

IMPORTANT: The safety controller support is very much PR2 specific, not intended for generic usage.

Basic safety controller operation is as follows

current safety controllers will take effect on joints outside the position range below:

position range: [JointSafety::soft_lower_limit + JointLimits::velocity / JointSafety::k_position, JointSafety::soft_uppper_limit - JointLimits::velocity / JointSafety::k_position]

if (joint_position is outside of the position range above) velocity_limit_min = -JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_lower_limit) velocity_limit_max = JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit) else velocity_limit_min = -JointLimits::velocity velocity_limit_max = JointLimits::velocity

velocity range: [velocity_limit_min + JointLimits::effort / JointSafety::k_velocity, velocity_limit_max - JointLimits::effort / JointSafety::k_velocity]

if (joint_velocity is outside of the velocity range above) effort_limit_min = -JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_min) effort_limit_max = JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_max) else effort_limit_min = -JointLimits::effort effort_limit_max = JointLimits::effort

Final effort command sent to the joint is saturated by [effort_limit_min,effort_limit_max]

Please see wiki for more details:

Definition at line 90 of file joint.h.

The documentation for this class was generated from the following file:
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Author(s): Wim Meeussen, John Hsu
autogenerated on Mon Aug 19 2013 11:02:01