Classes | Public Member Functions | Public Attributes
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

Detailed Description

Definition at line 116 of file r2_impedance_controller.h.


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.

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.

sets gains based on which cartesian modes are active

Definition at line 761 of file r2_impedance_controller.cpp.


Member Data Documentation

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

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non-ros subclass which performs the torque calculations

base of chains, currently both the same

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


r2_controllers_gazebo
Author(s): Stephen Hart
autogenerated on Mon Oct 6 2014 02:48:44