ImpedanceController Class Reference

#include <ImpedanceController.h>

Inheritance diagram for ImpedanceController:

List of all members.

Classes
struct	ee_trans
struct	ImpedanceParam
Public Member Functions
bool	getImpedanceControllerParam (const std::string &i_name_, OpenHRP::ImpedanceControllerService::impedanceParam &i_param_)
	ImpedanceController (RTC::Manager *manager)
virtual RTC::ReturnCode_t	onActivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onDeactivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onFinalize ()
virtual RTC::ReturnCode_t	onInitialize ()
bool	setImpedanceControllerParam (const std::string &i_name_, OpenHRP::ImpedanceControllerService::impedanceParam i_param_)
bool	startImpedanceController (const std::string &i_name_)
bool	startImpedanceControllerNoWait (const std::string &i_name_)
bool	stopImpedanceController (const std::string &i_name_)
bool	stopImpedanceControllerNoWait (const std::string &i_name_)
void	waitImpedanceControllerTransition (std::string i_name_)
virtual	~ImpedanceController ()
Protected Attributes
TimedPoint3D	m_basePos
InPort< TimedPoint3D >	m_basePosIn
TimedOrientation3D	m_baseRpy
InPort< TimedOrientation3D >	m_baseRpyIn
std::vector< TimedDoubleSeq >	m_force
std::vector< InPort < TimedDoubleSeq > * >	m_forceIn
RTC::CorbaPort	m_ImpedanceControllerServicePort
TimedDoubleSeq	m_q
TimedDoubleSeq	m_qCurrent
InPort< TimedDoubleSeq >	m_qCurrentIn
OutPort< TimedDoubleSeq >	m_qOut
TimedDoubleSeq	m_qRef
InPort< TimedDoubleSeq >	m_qRefIn
std::vector< TimedDoubleSeq >	m_ref_force
std::vector< InPort < TimedDoubleSeq > * >	m_ref_forceIn
TimedOrientation3D	m_rpy
InPort< TimedOrientation3D >	m_rpyIn
ImpedanceControllerService_impl	m_service0
Private Member Functions
void	calcForceMoment ()
void	calcImpedanceControl ()
void	copyImpedanceParam (OpenHRP::ImpedanceControllerService::impedanceParam &i_param_, const ImpedanceParam &param)
void	getTargetParameters ()
void	updateRootLinkPosRot (TimedOrientation3D tmprpy)
Private Attributes
std::map< std::string, hrp::Vector3 >	abs_forces
std::map< std::string, hrp::Vector3 >	abs_moments
std::map< std::string, hrp::Vector3 >	abs_ref_forces
std::map< std::string, hrp::Vector3 >	abs_ref_moments
int	dummy
std::map< std::string, ee_trans >	ee_map
int	loop
unsigned int	m_debugLevel
double	m_dt
std::map< std::string, ImpedanceParam >	m_impedance_param
coil::Mutex	m_mutex
hrp::BodyPtr	m_robot
std::map< std::string, hrp::VirtualForceSensorParam >	m_vfs
hrp::dvector	qrefv
bool	use_sh_base_pos_rpy

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Detailed Description

Definition at line 39 of file ImpedanceController.h.

---

Constructor & Destructor Documentation

ImpedanceController::ImpedanceController

(

RTC::Manager *

manager

)

Definition at line 44 of file ImpedanceController.cpp.

ImpedanceController::~ImpedanceController

(

)

[virtual]

Definition at line 63 of file ImpedanceController.cpp.

---

Member Function Documentation

void ImpedanceController::calcForceMoment

(

)

[private]

Definition at line 516 of file ImpedanceController.cpp.

void ImpedanceController::calcImpedanceControl

(

)

[private]

Definition at line 571 of file ImpedanceController.cpp.

void ImpedanceController::copyImpedanceParam	(	OpenHRP::ImpedanceControllerService::impedanceParam &	i_param_,
		const ImpedanceParam &	param
	)		[private]

Definition at line 749 of file ImpedanceController.cpp.

bool ImpedanceController::getImpedanceControllerParam	(	const std::string &	i_name_,
		OpenHRP::ImpedanceControllerService::impedanceParam &	i_param_
	)

Definition at line 787 of file ImpedanceController.cpp.

void ImpedanceController::getTargetParameters

(

)

[private]

Definition at line 454 of file ImpedanceController.cpp.

RTC::ReturnCode_t ImpedanceController::onActivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 291 of file ImpedanceController.cpp.

RTC::ReturnCode_t ImpedanceController::onDeactivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 298 of file ImpedanceController.cpp.

RTC::ReturnCode_t ImpedanceController::onExecute

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 311 of file ImpedanceController.cpp.

RTC::ReturnCode_t ImpedanceController::onFinalize

(

void

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 272 of file ImpedanceController.cpp.

RTC::ReturnCode_t ImpedanceController::onInitialize

(

void

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 68 of file ImpedanceController.cpp.

bool ImpedanceController::setImpedanceControllerParam	(	const std::string &	i_name_,
		OpenHRP::ImpedanceControllerService::impedanceParam	i_param_
	)

Definition at line 696 of file ImpedanceController.cpp.

bool ImpedanceController::startImpedanceController

(

const std::string &

i_name_

)

Definition at line 660 of file ImpedanceController.cpp.

bool ImpedanceController::startImpedanceControllerNoWait

(

const std::string &

i_name_

)

Definition at line 640 of file ImpedanceController.cpp.

bool ImpedanceController::stopImpedanceController

(

const std::string &

i_name_

)

Definition at line 689 of file ImpedanceController.cpp.

bool ImpedanceController::stopImpedanceControllerNoWait

(

const std::string &

i_name_

)

Definition at line 667 of file ImpedanceController.cpp.

void ImpedanceController::updateRootLinkPosRot

(

TimedOrientation3D

tmprpy

)

[private]

Definition at line 777 of file ImpedanceController.cpp.

void ImpedanceController::waitImpedanceControllerTransition

(

std::string

i_name_

)

Definition at line 801 of file ImpedanceController.cpp.

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Member Data Documentation

std::map<std::string, hrp::Vector3> ImpedanceController::abs_forces [private]

Definition at line 183 of file ImpedanceController.h.

std::map<std::string, hrp::Vector3> ImpedanceController::abs_moments [private]

Definition at line 183 of file ImpedanceController.h.

std::map<std::string, hrp::Vector3> ImpedanceController::abs_ref_forces [private]

Definition at line 183 of file ImpedanceController.h.

std::map<std::string, hrp::Vector3> ImpedanceController::abs_ref_moments [private]

Definition at line 183 of file ImpedanceController.h.

int ImpedanceController::dummy [private]

Definition at line 189 of file ImpedanceController.h.

std::map<std::string, ee_trans> ImpedanceController::ee_map [private]

Definition at line 181 of file ImpedanceController.h.

int ImpedanceController::loop [private]

Definition at line 190 of file ImpedanceController.h.

TimedPoint3D ImpedanceController::m_basePos [protected]

Definition at line 114 of file ImpedanceController.h.

InPort<TimedPoint3D> ImpedanceController::m_basePosIn [protected]

Definition at line 115 of file ImpedanceController.h.

TimedOrientation3D ImpedanceController::m_baseRpy [protected]

Definition at line 116 of file ImpedanceController.h.

InPort<TimedOrientation3D> ImpedanceController::m_baseRpyIn [protected]

Definition at line 117 of file ImpedanceController.h.

unsigned int ImpedanceController::m_debugLevel [private]

Definition at line 188 of file ImpedanceController.h.

double ImpedanceController::m_dt [private]

Definition at line 184 of file ImpedanceController.h.

std::vector<TimedDoubleSeq> ImpedanceController::m_force [protected]

Definition at line 118 of file ImpedanceController.h.

std::vector<InPort<TimedDoubleSeq> *> ImpedanceController::m_forceIn [protected]

Definition at line 119 of file ImpedanceController.h.

std::map<std::string, ImpedanceParam> ImpedanceController::m_impedance_param [private]

Definition at line 180 of file ImpedanceController.h.

RTC::CorbaPort ImpedanceController::m_ImpedanceControllerServicePort [protected]

Definition at line 136 of file ImpedanceController.h.

coil::Mutex ImpedanceController::m_mutex [private]

Definition at line 186 of file ImpedanceController.h.

TimedDoubleSeq ImpedanceController::m_q [protected]

Definition at line 129 of file ImpedanceController.h.

TimedDoubleSeq ImpedanceController::m_qCurrent [protected]

Definition at line 110 of file ImpedanceController.h.

InPort<TimedDoubleSeq> ImpedanceController::m_qCurrentIn [protected]

Definition at line 111 of file ImpedanceController.h.

OutPort<TimedDoubleSeq> ImpedanceController::m_qOut [protected]

Definition at line 130 of file ImpedanceController.h.

TimedDoubleSeq ImpedanceController::m_qRef [protected]

Definition at line 112 of file ImpedanceController.h.

InPort<TimedDoubleSeq> ImpedanceController::m_qRefIn [protected]

Definition at line 113 of file ImpedanceController.h.

std::vector<TimedDoubleSeq> ImpedanceController::m_ref_force [protected]

Definition at line 120 of file ImpedanceController.h.

std::vector<InPort<TimedDoubleSeq> *> ImpedanceController::m_ref_forceIn [protected]

Definition at line 121 of file ImpedanceController.h.

hrp::BodyPtr ImpedanceController::m_robot [private]

Definition at line 185 of file ImpedanceController.h.

TimedOrientation3D ImpedanceController::m_rpy [protected]

Definition at line 122 of file ImpedanceController.h.

InPort<TimedOrientation3D> ImpedanceController::m_rpyIn [protected]

Definition at line 123 of file ImpedanceController.h.

ImpedanceControllerService_impl ImpedanceController::m_service0 [protected]

Definition at line 142 of file ImpedanceController.h.

std::map<std::string, hrp::VirtualForceSensorParam> ImpedanceController::m_vfs [private]

Definition at line 182 of file ImpedanceController.h.

hrp::dvector ImpedanceController::qrefv [private]

Definition at line 187 of file ImpedanceController.h.

bool ImpedanceController::use_sh_base_pos_rpy [private]

Definition at line 191 of file ImpedanceController.h.

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

• ImpedanceController.h
• ImpedanceController.cpp