A class that offers an implementation of a virtual wall for a single joint. More...

#include <joint_wall.h>

Public Member Functions
double	computeTorque (double q, double dq)
	Computes the torque with given q and dq. More...

	JointWall ()=delete
	Creates a JointWall instance with default params. More...

	JointWall (double soft_upper_joint_position_limit, double soft_lower_joint_position_limit, double PD_zone_width, double D_zone_width, double PD_zone_stiffness, double PD_zone_damping, double D_zone_damping)
	Creates a JointWall instance with configurable parameters. More...

void	reset ()
	Resets the initialized flag to false. More...

Private Types
enum	MotionInWall { MotionInWall::EnteringNormal, MotionInWall::PenetratingLowerLimit, MotionInWall::LeavingLowerLimit, MotionInWall::PenetratingUpperLimit, MotionInWall::LeavingUpperLimit }
	Indicates the status of moving wall, which occurs after initializing the state inside a wall. More...

Private Member Functions
void	adjustMovingWall (double q, double dq)
	Moves the wall with given state if the state is initialized inside the wall. More...

MotionInWall	getMotionInWall (double q, double dq) const
	Checks the motion type in joint wall. More...

void	init (double q, double dq)
	Initializes the joint wall computation with initial states. More...

Static Private Member Functions
static bool	inRange (double low, double high, double x)
	Checks if x is in range [low, high]. More...

static double	positiveCheck (double value)
	Check if the input is positive number, if not print error and return its abs. More...

Private Attributes
double	D_zone_damping_ {0}

double	D_zone_width_ {0}

bool	initialized_ {false}

bool	moving_wall_ {false}

double	PD_zone_damping_ {0}

double	PD_zone_stiffness_ {0}

double	PD_zone_width_ {0}

double	soft_lower_joint_position_limit_ {0}

double	soft_upper_joint_position_limit_ {0}

double	zone_width_scale_ {1}

Detailed Description

A class that offers an implementation of a virtual wall for a single joint.

Definition at line 22 of file joint_wall.h.

Member Enumeration Documentation

◆ MotionInWall

enum franka_example_controllers::JointWall::MotionInWall

strongprivate

Indicates the status of moving wall, which occurs after initializing the state inside a wall.

Enumerator
EnteringNormal
PenetratingLowerLimit
LeavingLowerLimit
PenetratingUpperLimit
LeavingUpperLimit

Definition at line 68 of file joint_wall.h.

Constructor & Destructor Documentation

◆ JointWall() [1/2]

franka_example_controllers::JointWall::JointWall ( )

delete

Creates a JointWall instance with default params.

◆ JointWall() [2/2]

franka_example_controllers::JointWall::JointWall	(	double	soft_upper_joint_position_limit,
		double	soft_lower_joint_position_limit,
		double	PD_zone_width,
		double	D_zone_width,
		double	PD_zone_stiffness,
		double	PD_zone_damping,
		double	D_zone_damping
	)

Creates a JointWall instance with configurable parameters.

Parameters

[in]	soft_upper_joint_position_limit	(rad)
[in]	soft_lower_joint_position_limit	(rad)
[in]	PD_zone_width	(meter)
[in]	D_zone_width	(meter)
[in]	PD_zone_stiffness	(N*meter/rad)
[in]	PD_zone_damping	(Nmeters/rad)
[in]	D_zone_damping	(Nmeters/rad)

Definition at line 12 of file joint_wall.cpp.

Member Function Documentation

◆ adjustMovingWall()

void franka_example_controllers::JointWall::adjustMovingWall	(	double	q,
		double	dq
	)

private

Moves the wall with given state if the state is initialized inside the wall.

Parameters

[in]	q	the current joint position.
[in]	dq	the current joint velocity.

Definition at line 102 of file joint_wall.cpp.

◆ computeTorque()

double franka_example_controllers::JointWall::computeTorque	(	double	q,
		double	dq
	)

Computes the torque with given q and dq.

Be aware that the torque is also affected by previous states.

Parameters

[in]	q	current joint position.
[in]	dq	the current joint velocity.

Returns: the resulting torque

Definition at line 33 of file joint_wall.cpp.

◆ getMotionInWall()

JointWall::MotionInWall franka_example_controllers::JointWall::getMotionInWall	(	double	q,
		double	dq
	)		const

private

Checks the motion type in joint wall.

Parameters

[in]	q	the current joint position.
[in]	dq	the current joint velocity.

Definition at line 135 of file joint_wall.cpp.

◆ init()

void franka_example_controllers::JointWall::init	(	double	q,
		double	dq
	)

private

Initializes the joint wall computation with initial states.

Parameters

[in]	q	the current joint position.
[in]	dq	the current joint velocity.

Definition at line 70 of file joint_wall.cpp.

◆ inRange()

bool franka_example_controllers::JointWall::inRange	(	double	low,
		double	high,
		double	x
	)

staticprivate

Checks if x is in range [low, high].

Parameters

[in]	low	lower limit of the range.
[in]	high	upper limit of the range.
[in]	x	value to check.

Returns: true if in range, false otherwise.

Definition at line 66 of file joint_wall.cpp.

◆ positiveCheck()

double franka_example_controllers::JointWall::positiveCheck ( double value )

staticprivate

Check if the input is positive number, if not print error and return its abs.

Parameters

[in] value The value to check.

Returns: the absolute value of the value.

Definition at line 126 of file joint_wall.cpp.

◆ reset()

void franka_example_controllers::JointWall::reset ( )

Resets the initialized flag to false.

After calling reset, the next call to computeTorque resets the internal states for joint position and velocity (q, dq). Call this method before restarting your controller, e.g. when the position might have changed during control pauses due to guiding.

Definition at line 62 of file joint_wall.cpp.

Member Data Documentation

◆ D_zone_damping_

double franka_example_controllers::JointWall::D_zone_damping_ {0}

private

Definition at line 83 of file joint_wall.h.

◆ D_zone_width_

double franka_example_controllers::JointWall::D_zone_width_ {0}

private

Definition at line 80 of file joint_wall.h.

◆ initialized_

bool franka_example_controllers::JointWall::initialized_ {false}

private

Definition at line 85 of file joint_wall.h.

◆ moving_wall_

bool franka_example_controllers::JointWall::moving_wall_ {false}

private

Definition at line 90 of file joint_wall.h.

◆ PD_zone_damping_

double franka_example_controllers::JointWall::PD_zone_damping_ {0}

private

Definition at line 82 of file joint_wall.h.

◆ PD_zone_stiffness_

double franka_example_controllers::JointWall::PD_zone_stiffness_ {0}

private

Definition at line 81 of file joint_wall.h.

◆ PD_zone_width_

double franka_example_controllers::JointWall::PD_zone_width_ {0}

private

Definition at line 79 of file joint_wall.h.

◆ soft_lower_joint_position_limit_

double franka_example_controllers::JointWall::soft_lower_joint_position_limit_ {0}

private

Definition at line 78 of file joint_wall.h.

◆ soft_upper_joint_position_limit_

double franka_example_controllers::JointWall::soft_upper_joint_position_limit_ {0}

private

Definition at line 77 of file joint_wall.h.

◆ zone_width_scale_

double franka_example_controllers::JointWall::zone_width_scale_ {1}

private

Definition at line 92 of file joint_wall.h.

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

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ MotionInWall

Constructor & Destructor Documentation

◆ JointWall() [1/2]

◆ JointWall() [2/2]

Member Function Documentation

◆ adjustMovingWall()

◆ computeTorque()

◆ getMotionInWall()

◆ init()

◆ inRange()

◆ positiveCheck()

◆ reset()

Member Data Documentation

◆ D_zone_damping_

◆ D_zone_width_

◆ initialized_

◆ moving_wall_

◆ PD_zone_damping_

◆ PD_zone_stiffness_

◆ PD_zone_width_

◆ soft_lower_joint_position_limit_

◆ soft_upper_joint_position_limit_

◆ zone_width_scale_