The qbrobotics qbmove Transmission interface implements the specific transmission_interface::Transmission to convert from qbmove motors state to its equivalent joint state representation, and vice versa. More...

#include <qb_move_transmission_interface.h>

Inheritance diagram for qb_move_transmission_interface::qbMoveTransmission:

[legend]

Public Member Functions
void	actuatorToJointEffort (const transmission_interface::ActuatorData &actuator, transmission_interface::JointData &joint)
	Transform effort variables from actuator to joint space. More...

void	actuatorToJointPosition (const transmission_interface::ActuatorData &actuator, transmission_interface::JointData &joint)
	Transform position variables from actuator to joint space. More...

void	actuatorToJointVelocity (const transmission_interface::ActuatorData &actuator, transmission_interface::JointData &joint)
	Transform velocity variables from actuator to joint space. More...

const bool	getCommandWithPoistionAndPreset () const

const double	getEffortFactor () const

const std::vector< double >	getPositionFactor () const

const double	getPresetFactor () const

const double	getPresetPercentToRadians () const

const double	getVelocityFactor () const

void	jointToActuatorEffort (const transmission_interface::JointData &joint, transmission_interface::ActuatorData &actuator)
	Transform effort variables from joint to actuator space. More...

void	jointToActuatorPosition (const transmission_interface::JointData &joint, transmission_interface::ActuatorData &actuator)
	Transform position variables from joint to actuator space. More...

void	jointToActuatorVelocity (const transmission_interface::JointData &joint, transmission_interface::ActuatorData &actuator)
	Transform velocity variables from joint to actuator space. More...

std::size_t	numActuators () const

std::size_t	numJoints () const

	qbMoveTransmission ()
	Build the qbmove transmission with default velocity and effort scale factors (respectively `0.2` and `0.001`). More...

	qbMoveTransmission (const bool &command_with_position_and_preset, const std::vector< double > &position_factor, const double &preset_factor, const double &velocity_factor, const double &effort_factor)
	Build the qbmove transmission with the given scale factors. More...

void	setCommandWithPoistionAndPreset (const bool &command_with_position_and_preset)

void	setPositionFactor (const std::vector< int > &encoder_resolutions)

void	setPresetFactor (const int &stiffness_preset_limit)

Public Member Functions inherited from transmission_interface::Transmission
virtual	~Transmission ()

Private Attributes
bool	command_with_position_and_preset_

double	effort_factor_

std::vector< double >	position_factor_

double	preset_factor_

double	velocity_factor_

Detailed Description

The qbrobotics qbmove Transmission interface implements the specific transmission_interface::Transmission to convert from qbmove motors state to its equivalent joint state representation, and vice versa.

See also: qb_device_transmission_interface::qbDeviceTransmissionResources

Definition at line 40 of file qb_move_transmission_interface.h.

Constructor & Destructor Documentation

qb_move_transmission_interface::qbMoveTransmission::qbMoveTransmission ( )

inline

Build the qbmove transmission with default velocity and effort scale factors (respectively 0.2 and 0.001).

The position scale factors (one value per each motor) are based on the "encoder resolutions", following the formula $f_{pos} = \frac{\pi}{2^(2-encoder\_resolution)}$ . The default encoder resolutions are equal 1, but they can be modified during the execution with the proper method. The preset scale factor is based on the "stiffness preset limit" (expressed in ticks), which is the maximum stiffness value for the given qbrobotics device, and follows the formula $f_{pres} = \frac{1}{stiffness\_preset\_limit}$ . The default maximum stiffness is set to 3000 ticks, but it can be modified during the execution with the proper method. Finally, the control mode can be set to work either with motor positions or with shaft position and stiffness preset; the default behavior is to use the "position and preset" controller, but it can be modified even during the execution with the proper method.

Definition at line 53 of file qb_move_transmission_interface.h.

qb_move_transmission_interface::qbMoveTransmission::qbMoveTransmission	(	const bool &	command_with_position_and_preset,
		const std::vector< double > &	position_factor,
		const double &	preset_factor,
		const double &	velocity_factor,
		const double &	effort_factor
	)

inline

Build the qbmove transmission with the given scale factors.

Parameters

command_with_position_and_preset	If `true` the controller exploits shaft position and stiffness preset.
position_factor	Motor position ticks to joint position radians scale factor vector.
preset_factor	Preset value ticks to preset percent value [`0`, `1`] scale factor.
velocity_factor	Exponential filter smoothing factor.
effort_factor	Motor current mA to joint effort A scale factor.

Definition at line 65 of file qb_move_transmission_interface.h.

Member Function Documentation

void qb_move_transmission_interface::qbMoveTransmission::actuatorToJointEffort	(	const transmission_interface::ActuatorData &	actuator,
		transmission_interface::JointData &	joint
	)

inlinevirtual

Transform effort variables from actuator to joint space.

Parameters

	actuator	Actuator-space variables.
[out]	joint	Joint-space variables.

Precondition: Actuator and joint effort vectors must have size according respectively to numActuators and numJoints and must point to valid data, at least for the used fields, i.e. it is not required that all other data vectors contain valid data; they can even remain empty.

Implements transmission_interface::Transmission.

Definition at line 81 of file qb_move_transmission_interface.h.

void qb_move_transmission_interface::qbMoveTransmission::actuatorToJointPosition	(	const transmission_interface::ActuatorData &	actuator,
		transmission_interface::JointData &	joint
	)

inlinevirtual

Transform position variables from actuator to joint space.

Parameters

	actuator	Actuator-space variables.
[out]	joint	Joint-space variables.

Precondition: Actuator and joint position vectors must have size according respectively to numActuators and numJoints and must point to valid data, at least for the used fields, i.e. it is not required that all other data vectors contain valid data; they can even remain empty.

Implements transmission_interface::Transmission.

Definition at line 120 of file qb_move_transmission_interface.h.

void qb_move_transmission_interface::qbMoveTransmission::actuatorToJointVelocity	(	const transmission_interface::ActuatorData &	actuator,
		transmission_interface::JointData &	joint
	)

inlinevirtual

Transform velocity variables from actuator to joint space.

Parameters

	actuator	Actuator-space variables.
[out]	joint	Joint-space variables.

Precondition: Actuator and joint velocity vectors must have size according respectively to numActuators and numJoints and must point to valid data, at least for the used fields, i.e. it is not required that all other data vectors contain valid data; they can even remain empty.

Implements transmission_interface::Transmission.

Definition at line 99 of file qb_move_transmission_interface.h.

const bool qb_move_transmission_interface::qbMoveTransmission::getCommandWithPoistionAndPreset ( ) const

inline

Returns: true if the controller exploits shaft position and stiffness preset.

Definition at line 133 of file qb_move_transmission_interface.h.

const double qb_move_transmission_interface::qbMoveTransmission::getEffortFactor ( ) const

inline

Returns: The current effort scale factor.

Definition at line 158 of file qb_move_transmission_interface.h.

const std::vector<double> qb_move_transmission_interface::qbMoveTransmission::getPositionFactor ( ) const

inline

Returns: The current position scale factor.

Definition at line 138 of file qb_move_transmission_interface.h.

const double qb_move_transmission_interface::qbMoveTransmission::getPresetFactor ( ) const

inline

Returns: The current preset scale factor.

Definition at line 143 of file qb_move_transmission_interface.h.

const double qb_move_transmission_interface::qbMoveTransmission::getPresetPercentToRadians ( ) const

inline

Returns: The preset percent value to radians scale factor: $\frac{pos\_tick\_to\_rad}{preset_tick_to_percent}$ .

Definition at line 148 of file qb_move_transmission_interface.h.

const double qb_move_transmission_interface::qbMoveTransmission::getVelocityFactor ( ) const

inline

Returns: The current velocity scale factor.

Definition at line 153 of file qb_move_transmission_interface.h.

void qb_move_transmission_interface::qbMoveTransmission::jointToActuatorEffort	(	const transmission_interface::JointData &	joint,
		transmission_interface::ActuatorData &	actuator
	)

inlinevirtual

Transform effort variables from joint to actuator space.

Parameters

	joint	Joint-space variables.
[out]	actuator	Actuator-space variables.

Precondition: Actuator and joint effort vectors must have size according respectively to numActuators and numJoints and must point to valid data, at least for the used fields, i.e. it is not required that all other data vectors contain valid data; they can even remain empty.

Implements transmission_interface::Transmission.

Definition at line 168 of file qb_move_transmission_interface.h.

void qb_move_transmission_interface::qbMoveTransmission::jointToActuatorPosition	(	const transmission_interface::JointData &	joint,
		transmission_interface::ActuatorData &	actuator
	)

inlinevirtual

Transform position variables from joint to actuator space.

Parameters

	joint	Joint-space variables.
[out]	actuator	Actuator-space variables.

Precondition: Actuator and joint position vectors must have size according respectively to numActuators and numJoints and must point to valid data, at least for the used fields, i.e. it is not required that all other data vectors contain valid data; they can even remain empty.

Implements transmission_interface::Transmission.

Definition at line 212 of file qb_move_transmission_interface.h.

void qb_move_transmission_interface::qbMoveTransmission::jointToActuatorVelocity	(	const transmission_interface::JointData &	joint,
		transmission_interface::ActuatorData &	actuator
	)

inlinevirtual

Transform velocity variables from joint to actuator space.

Parameters

	joint	Joint-space variables.
[out]	actuator	Actuator-space variables.

Precondition: Actuator and joint velocity vectors must have size according respectively to numActuators and numJoints and must point to valid data, at least for the used fields, i.e. it is not required that all other data vectors contain valid data; they can even remain empty.

Implements transmission_interface::Transmission.

Definition at line 194 of file qb_move_transmission_interface.h.

std::size_t qb_move_transmission_interface::qbMoveTransmission::numActuators ( ) const

inlinevirtual

Returns: The number of actuators of this transmission, i.e always 2 for the qbmove.

Implements transmission_interface::Transmission.

Definition at line 231 of file qb_move_transmission_interface.h.

std::size_t qb_move_transmission_interface::qbMoveTransmission::numJoints ( ) const

inlinevirtual

Returns: The number of joints of this transmission, i.e always 4 for the qbmove.

Implements transmission_interface::Transmission.

Definition at line 236 of file qb_move_transmission_interface.h.

void qb_move_transmission_interface::qbMoveTransmission::setCommandWithPoistionAndPreset ( const bool & command_with_position_and_preset )

inline

Returns: true if the controller exploits shaft position and stiffness preset.

Definition at line 241 of file qb_move_transmission_interface.h.

void qb_move_transmission_interface::qbMoveTransmission::setPositionFactor ( const std::vector< int > & encoder_resolutions )

inline

Returns: The current position scale factor.

Definition at line 246 of file qb_move_transmission_interface.h.

void qb_move_transmission_interface::qbMoveTransmission::setPresetFactor ( const int & stiffness_preset_limit )

inline

Returns: The current preset scale factor.

Definition at line 257 of file qb_move_transmission_interface.h.

Member Data Documentation

bool qb_move_transmission_interface::qbMoveTransmission::command_with_position_and_preset_

private

Definition at line 260 of file qb_move_transmission_interface.h.

double qb_move_transmission_interface::qbMoveTransmission::effort_factor_

private

Definition at line 264 of file qb_move_transmission_interface.h.

std::vector<double> qb_move_transmission_interface::qbMoveTransmission::position_factor_

private

Definition at line 261 of file qb_move_transmission_interface.h.

double qb_move_transmission_interface::qbMoveTransmission::preset_factor_

private

Definition at line 262 of file qb_move_transmission_interface.h.

double qb_move_transmission_interface::qbMoveTransmission::velocity_factor_

private

Definition at line 263 of file qb_move_transmission_interface.h.

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

qb_move_transmission_interface.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation