chainexternalwrenchestimator.hpp
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1 // Copyright (C) 2021 Djordje Vukcevic <djordje dot vukcevic at h-brs dot de>
2 
3 // Version: 1.0
4 // Author: Djordje Vukcevic <djordje dot vukcevic at h-brs dot de>
5 // URL: http://www.orocos.org/kdl
6 
7 // This library is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU Lesser General Public
9 // License as published by the Free Software Foundation; either
10 // version 2.1 of the License, or (at your option) any later version.
11 
12 // This library is distributed in the hope that it will be useful,
13 // but WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // Lesser General Public License for more details.
16 
17 // You should have received a copy of the GNU Lesser General Public
18 // License along with this library; if not, write to the Free Software
19 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
20 
21 #ifndef KDL_CHAIN_EXTERNAL_WRENCH_ESTIMATOR_HPP
22 #define KDL_CHAIN_EXTERNAL_WRENCH_ESTIMATOR_HPP
23 
24 #include <Eigen/Core>
26 #include "chaindynparam.hpp"
27 #include "chainjnttojacsolver.hpp"
29 #include <iostream>
30 
31 namespace KDL {
32 
44  {
45  typedef Eigen::Matrix<double, 6, 1 > Vector6d;
46 
47  public:
48 
49  static const int E_FKSOLVERPOS_FAILED = -100;
50  static const int E_JACSOLVER_FAILED = -101;
51  static const int E_DYNPARAMSOLVERMASS_FAILED = -102;
52  static const int E_DYNPARAMSOLVERCORIOLIS_FAILED = -103;
53  static const int E_DYNPARAMSOLVERGRAVITY_FAILED = -104;
54 
67  ChainExternalWrenchEstimator(const Chain &chain, const Vector &gravity, const double sample_frequency, const double estimation_gain, const double filter_constant, const double eps = 0.00001, const int maxiter = 150);
69 
75  int setInitialMomentum(const JntArray &joint_position, const JntArray &joint_velocity);
76 
77  // Sets singular-value eps parameter for the SVD calculation
78  void setSVDEps(const double eps_in);
79 
80  // Sets maximum iteration parameter for the SVD calculation
81  void setSVDMaxIter(const int maxiter_in);
82 
99  int JntToExtWrench(const JntArray &joint_position, const JntArray &joint_velocity, const JntArray &joint_torque, Wrench &external_wrench);
100 
101  // Returns the torques felt in the robot's joints as a result of the external wrench being applied on the robot.
102  void getEstimatedJntTorque(JntArray &external_joint_torque);
103 
105  virtual void updateInternalDataStructures();
106 
108  virtual const char* strError(const int error) const;
109 
110  private:
111  const Chain &CHAIN;
112  const double DT_SEC, FILTER_CONST;
113  double svd_eps;
115  unsigned int nj, ns;
121  Eigen::VectorXd S, S_inv, tmp, ESTIMATION_GAIN;
125  };
126 }
127 
128 #endif
static const int E_JACSOLVER_FAILED
Internally-used Forward Position Kinematics (Recursive) solver failed.
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
Definition: chain.hpp:35
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
int JntToExtWrench(const JntArray &joint_position, const JntArray &joint_velocity, const JntArray &joint_torque, Wrench &external_wrench)
static const int E_DYNPARAMSOLVERMASS_FAILED
Internally-used Jacobian solver failed.
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:162
virtual const char * strError(const int error) const
ChainExternalWrenchEstimator(const Chain &chain, const Vector &gravity, const double sample_frequency, const double estimation_gain, const double filter_constant, const double eps=0.00001, const int maxiter=150)
Internally-used Dynamics Parameters (Gravity) solver failed.
static const int E_DYNPARAMSOLVERGRAVITY_FAILED
Internally-used Dynamics Parameters (Coriolis) solver failed.
First-order momentum observer for the estimation of external wrenches applied on the robot&#39;s end-effe...
int setInitialMomentum(const JntArray &joint_position, const JntArray &joint_velocity)
void getEstimatedJntTorque(JntArray &external_joint_torque)
represents both translational and rotational acceleration.
Definition: frames.hpp:881
static const int E_DYNPARAMSOLVERCORIOLIS_FAILED
Internally-used Dynamics Parameters (Mass) solver failed.
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149


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autogenerated on Wed Jan 25 2023 03:16:56