Admittance controller for an operational point wrt to a force sensor. It can be a point of the model (hand) or not (created operational point: an object in the hand of the robot) Which is closed to a force sensor (for instance the right or left wrist ft) More...

#include <admittance-control-op-point.hh>

Inheritance diagram for dynamicgraph::sot::core::AdmittanceControlOpPoint:

[legend]

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	AdmittanceControlOpPoint (const std::string &name)

	DECLARE_SIGNAL_IN (dqSaturation, dynamicgraph::Vector)
	Value of the saturation to apply on the velocity output. More...

	DECLARE_SIGNAL_IN (force, dynamicgraph::Vector)
	6d force given by the sensor in its local frame More...

	DECLARE_SIGNAL_IN (Kd, dynamicgraph::Vector)
	Derivative gain (6d) for the error on the force. More...

	DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector)
	Gain (6d) for the integration of the error on the force. More...

	DECLARE_SIGNAL_IN (opPose, dynamicgraph::sot::MatrixHomogeneous)
	Current position (matrixHomogeneous) of the given operational point. More...

	DECLARE_SIGNAL_IN (sensorPose, dynamicgraph::sot::MatrixHomogeneous)
	Current position (matrixHomogeneous) of the given force sensor. More...

	DECLARE_SIGNAL_IN (w_forceDes, dynamicgraph::Vector)
	6d desired force of the end-effector in the world frame More...

	DECLARE_SIGNAL_INNER (w_dq, dynamicgraph::Vector)
	Internal intergration computed in the world frame. More...

	DECLARE_SIGNAL_INNER (w_force, dynamicgraph::Vector)
	6d force given by the sensor in the world frame More...

	DECLARE_SIGNAL_OUT (dq, dynamicgraph::Vector)
	Velocity reference for the end-effector in the local frame. More...

virtual void	display (std::ostream &os) const

void	init (const double &dt)
	Initialize the entity. More...

void	resetDq ()
	Reset the velocity. More...

Public Member Functions inherited from dynamicgraph::Entity
std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

virtual const std::string &	getClassName () const

const std::string &	getCommandList () const

virtual std::string	getDocString () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< sigtime_t > &	getSignal (const std::string &signalName)

const SignalBase< sigtime_t > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger &	logger ()

const Logger &	logger () const

const Logger &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< sigtime_t > *	test ()

virtual void	test2 (SignalBase< sigtime_t > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual	~Entity ()

Protected Attributes
double	m_dt
	Time step of the control. More...

bool	m_initSucceeded
	True if the entity has been successfully initialized. More...

double	m_mass

size_type	m_n
	Dimension of the force signals and of the output. More...

dynamicgraph::Vector	m_w_dq
	Internal state. More...

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Private Member Functions
	DYNAMIC_GRAPH_ENTITY_DECL ()

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command * >	CommandMap_t

typedef std::map< std::string, SignalBase< sigtime_t > * >	SignalMap

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< sigtime_t > &signals)

Detailed Description

Admittance controller for an operational point wrt to a force sensor. It can be a point of the model (hand) or not (created operational point: an object in the hand of the robot) Which is closed to a force sensor (for instance the right or left wrist ft)

This entity computes a velocity reference for an operational point based on the force error in the world frame : w_dq = integral(Kp(w_forceDes-w_force)) + Kd (w_dq)

Definition at line 59 of file admittance-control-op-point.hh.

Constructor & Destructor Documentation

◆ AdmittanceControlOpPoint()

dynamicgraph::sot::core::AdmittanceControlOpPoint::AdmittanceControlOpPoint ( const std::string & name )

Definition at line 55 of file admittance-control-op-point.cpp.

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN	(	dqSaturation	,
		dynamicgraph::Vector
	)

Value of the saturation to apply on the velocity output.

◆ DECLARE_SIGNAL_IN() [2/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN	(	force	,
		dynamicgraph::Vector
	)

6d force given by the sensor in its local frame

◆ DECLARE_SIGNAL_IN() [3/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN	(	Kd	,
		dynamicgraph::Vector
	)

Derivative gain (6d) for the error on the force.

◆ DECLARE_SIGNAL_IN() [4/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN	(	Kp	,
		dynamicgraph::Vector
	)

Gain (6d) for the integration of the error on the force.

◆ DECLARE_SIGNAL_IN() [5/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN	(	opPose	,
		dynamicgraph::sot::MatrixHomogeneous
	)

Current position (matrixHomogeneous) of the given operational point.

◆ DECLARE_SIGNAL_IN() [6/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN	(	sensorPose	,
		dynamicgraph::sot::MatrixHomogeneous
	)

Current position (matrixHomogeneous) of the given force sensor.

◆ DECLARE_SIGNAL_IN() [7/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN	(	w_forceDes	,
		dynamicgraph::Vector
	)

6d desired force of the end-effector in the world frame

◆ DECLARE_SIGNAL_INNER() [1/2]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_INNER	(	w_dq	,
		dynamicgraph::Vector
	)

Internal intergration computed in the world frame.

◆ DECLARE_SIGNAL_INNER() [2/2]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_INNER	(	w_force	,
		dynamicgraph::Vector
	)

6d force given by the sensor in the world frame

◆ DECLARE_SIGNAL_OUT()

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_OUT	(	dq	,
		dynamicgraph::Vector
	)

Velocity reference for the end-effector in the local frame.

◆ display()

void dynamicgraph::sot::core::AdmittanceControlOpPoint::display ( std::ostream & os ) const

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 199 of file admittance-control-op-point.cpp.

◆ DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::core::AdmittanceControlOpPoint::DYNAMIC_GRAPH_ENTITY_DECL ( )

private

◆ init()

void dynamicgraph::sot::core::AdmittanceControlOpPoint::init ( const double & dt )

Initialize the entity.

Parameters

[in] dt Time step of the control

Definition at line 80 of file admittance-control-op-point.cpp.

◆ resetDq()

void dynamicgraph::sot::core::AdmittanceControlOpPoint::resetDq ( )

Reset the velocity.

Definition at line 106 of file admittance-control-op-point.cpp.

Member Data Documentation

◆ m_dt

double dynamicgraph::sot::core::AdmittanceControlOpPoint::m_dt

protected

Time step of the control.

Definition at line 117 of file admittance-control-op-point.hh.

◆ m_initSucceeded

bool dynamicgraph::sot::core::AdmittanceControlOpPoint::m_initSucceeded

protected

True if the entity has been successfully initialized.

Definition at line 113 of file admittance-control-op-point.hh.

◆ m_mass

double dynamicgraph::sot::core::AdmittanceControlOpPoint::m_mass

protected

Definition at line 119 of file admittance-control-op-point.hh.

◆ m_n

size_type dynamicgraph::sot::core::AdmittanceControlOpPoint::m_n

protected

Dimension of the force signals and of the output.

Definition at line 111 of file admittance-control-op-point.hh.

◆ m_w_dq

dynamicgraph::Vector dynamicgraph::sot::core::AdmittanceControlOpPoint::m_w_dq

protected

Internal state.

Definition at line 115 of file admittance-control-op-point.hh.

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

Public Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AdmittanceControlOpPoint()

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/7]

◆ DECLARE_SIGNAL_IN() [2/7]

◆ DECLARE_SIGNAL_IN() [3/7]

◆ DECLARE_SIGNAL_IN() [4/7]

◆ DECLARE_SIGNAL_IN() [5/7]

◆ DECLARE_SIGNAL_IN() [6/7]

◆ DECLARE_SIGNAL_IN() [7/7]

◆ DECLARE_SIGNAL_INNER() [1/2]

◆ DECLARE_SIGNAL_INNER() [2/2]

◆ DECLARE_SIGNAL_OUT()

◆ display()

◆ DYNAMIC_GRAPH_ENTITY_DECL()

◆ init()

◆ resetDq()

Member Data Documentation

◆ m_dt

◆ m_initSucceeded

◆ m_mass

◆ m_n

◆ m_w_dq