#include <Cartesian_HybCntrl.h>

Inheritance diagram for Cartesian_HybCntrl:

Classes
struct	ForceControl
	defines the current force control in the force control frame More...
Public Member Functions
	Cartesian_HybCntrl ()
void	createForceControlMap (std::map< std::string, std::pair< std::vector< int >, std::vector< double > > > forceNodes)
	creates the map between node name, axis index, and desired force magnitude
double	edgeLimit (double vel, double prev, double input)
void	limitPoseError (KDL::Frame &output_pose, KDL::Frame input_pose)
void	printFrame (std::string, KDL::Frame)
void	printWrench (std::string, KDL::Wrench)
void	setFilter (double filterAlpha)
void	setGain (double forceP, double torqueP, double forceI, double torqueI, double forceD, double torqueD, double forceWindup, double torqueWindup, double positionErrorLimit_in, double rotationErrorLimit_in)
	defines the default gains for force control
bool	setInitialPose (const std::string &frameName, const ::KDL::Frame &pose)
void	setPoseSettings (double linVel, double angVel, double linAcc, double angAcc)
	defines the maximum velocities and accelerations for force control
void	setSensorNameMap (const std::map< std::string, std::string > &sensorNameMap)
	replaces the current sensor-name map with a new map
virtual void	updateFrames (std::vector< std::string > nodeNames, std::map< std::string, KDL::Frame > referenceFrameMap, std::vector< KDL::Frame > &nodeFrames, double dt)
void	updateSensorForces (const std::map< std::string, KDL::Wrench > &sensorForces)
	~Cartesian_HybCntrl ()
Public Attributes
bool	doFeedForward
Protected Member Functions
std::string	getSensorNameFromNode (const std::string &nodeName)
void	limitVector (double minVal, double maxVal, KDL::Vector &vector)
void	limitVelocity (const KDL::Twist &pastVelocity, KDL::Twist &currVelocity)
Protected Attributes
double	alpha
boost::shared_ptr< RateLimiter >	angularRateLimiter
double	fKd
double	fKi
double	fKp
std::map< std::string, ForceControl >	forceCntrlMap
double	forceIntegralWindupLimit
std::map< std::string, ForceControl >::iterator	forceItr
boost::shared_ptr< RateLimiter >	linearRateLimiter
double	maxAngularVelocity
double	maxLinearVelocity
double	positionErrorLimit
double	rotationErrorLimit
std::map< std::string, KDL::Wrench >::const_iterator	sensorForceItr
std::map< std::string, KDL::Wrench >	sensorForceMap
std::map< std::string, std::string >	sensorNameMap
double	tKd
double	tKi
double	tKp
double	torqueIntegralWindupLimit
Private Attributes
KDL::Frame	desiredPose
double	edgeBuffer
KDL::Wrench	forceError
KDL::Wrench	forcePID
std::string	logCategory
KDL::Frame	poseFrame
KDL::Wrench	sensorForce
KDL::Frame	sensorFrame
KDL::Twist	velocity
KDL::Wrench	wrenchDesired
KDL::Wrench	wrenchPoseFrame
KDL::Wrench	wrenchSensorFrame

Detailed Description

Definition at line 22 of file Cartesian_HybCntrl.h.

Constructor & Destructor Documentation

Cartesian_HybCntrl::Cartesian_HybCntrl ( )

Definition at line 3 of file Cartesian_HybCntrl.cpp.

Cartesian_HybCntrl::~Cartesian_HybCntrl ( )

Definition at line 10 of file Cartesian_HybCntrl.cpp.

Member Function Documentation

void Cartesian_HybCntrl::createForceControlMap ( std::map< std::string, std::pair< std::vector< int >, std::vector< double > > > forceNodes )

creates the map between node name, axis index, and desired force magnitude

Definition at line 87 of file Cartesian_HybCntrl.cpp.

double Cartesian_HybCntrl::edgeLimit	(	double	vel,
		double	prev,
		double	input
	)

Definition at line 371 of file Cartesian_HybCntrl.cpp.

std::string Cartesian_HybCntrl::getSensorNameFromNode ( const std::string & nodeName ) [protected]

if sensor name in map, return sensor name

otherwise return empty string

Definition at line 449 of file Cartesian_HybCntrl.cpp.

void Cartesian_HybCntrl::limitPoseError	(	KDL::Frame &	output_pose,
		KDL::Frame	input_pose
	)

Definition at line 386 of file Cartesian_HybCntrl.cpp.

void Cartesian_HybCntrl::limitVector	(	double	minVal,
		double	maxVal,
		KDL::Vector &	vector
	)		`[protected]`

Definition at line 428 of file Cartesian_HybCntrl.cpp.

void Cartesian_HybCntrl::limitVelocity	(	const KDL::Twist &	pastVelocity,
		KDL::Twist &	currVelocity
	)		`[protected]`

Definition at line 438 of file Cartesian_HybCntrl.cpp.

void Cartesian_HybCntrl::printFrame	(	std::string	name,
		KDL::Frame	frame
	)

Definition at line 145 of file Cartesian_HybCntrl.cpp.

void Cartesian_HybCntrl::printWrench	(	std::string	name,
		KDL::Wrench	wrench
	)

Definition at line 167 of file Cartesian_HybCntrl.cpp.

void Cartesian_HybCntrl::setFilter ( double filterAlpha )

Definition at line 45 of file Cartesian_HybCntrl.cpp.

void Cartesian_HybCntrl::setGain	(	double	forceP,
		double	torqueP,
		double	forceI,
		double	torqueI,
		double	forceD,
		double	torqueD,
		double	forceWindup,
		double	torqueWindup,
		double	positionErrorLimit_in,
		double	rotationErrorLimit_in
	)

defines the default gains for force control

Definition at line 15 of file Cartesian_HybCntrl.cpp.

bool Cartesian_HybCntrl::setInitialPose	(	const std::string &	frameName,
		const ::KDL::Frame &	pose
	)

Definition at line 72 of file Cartesian_HybCntrl.cpp.

void Cartesian_HybCntrl::setPoseSettings	(	double	linVel,
		double	angVel,
		double	linAcc,
		double	angAcc
	)

defines the maximum velocities and accelerations for force control

Definition at line 34 of file Cartesian_HybCntrl.cpp.

void Cartesian_HybCntrl::setSensorNameMap ( const std::map< std::string, std::string > & sensorNameMap )

replaces the current sensor-name map with a new map

Definition at line 52 of file Cartesian_HybCntrl.cpp.

void Cartesian_HybCntrl::updateFrames	(	std::vector< std::string >	nodeNames,
		std::map< std::string, KDL::Frame >	referenceFrameMap,
		std::vector< KDL::Frame > &	nodeFrames,
		double	dt
	)		`[virtual]`