IRI ROS Specific Driver Class. More...

#include <kinton_arm_task_priority_control_alg.h>

Public Types
typedef kinton_arm_task_priority_control::KintonArmTaskPriorityControlConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
	KintonArmTaskPriorityControlAlgorithm (void)
	constructor
void	lock (void)
	Lock Algorithm.
void	task_priority_ctrl (const MatrixXd &cam_vel, const bool &arm_unina, const bool &arm_catec, const bool &enable_sec_task, const Matrix4d &Tcam_in_tip, const Matrix4d &Ttag_in_cam, const MatrixXd &lambda_robot, const MatrixXd &gain_sec_task, const MatrixXd &q_rollpitch, const MatrixXd &v_rollpitch, const Chain &kdl_chain, const vector< arm_joint > joint_info, const double &dt, MatrixXd &q, MatrixXd &vel_quad)
	Main algorithm.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~KintonArmTaskPriorityControlAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
CQuadarm_Task_Priority_Ctrl	quadarm_task_priority_ctrl
Protected Attributes
CMutex	alg_mutex_
	define config type

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 48 of file kinton_arm_task_priority_control_alg.h.

Member Typedef Documentation

typedef kinton_arm_task_priority_control::KintonArmTaskPriorityControlConfig KintonArmTaskPriorityControlAlgorithm::Config

define config type

Define a Config type with the KintonArmTaskPriorityControlConfig. All driver implementations will then use the same variable type Config.

Definition at line 69 of file kinton_arm_task_priority_control_alg.h.

Constructor & Destructor Documentation

KintonArmTaskPriorityControlAlgorithm::KintonArmTaskPriorityControlAlgorithm ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 6 of file kinton_arm_task_priority_control_alg.cpp.

KintonArmTaskPriorityControlAlgorithm::~KintonArmTaskPriorityControlAlgorithm ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 10 of file kinton_arm_task_priority_control_alg.cpp.

Member Function Documentation

void KintonArmTaskPriorityControlAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 14 of file kinton_arm_task_priority_control_alg.cpp.

void KintonArmTaskPriorityControlAlgorithm::lock ( void ) [inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 94 of file kinton_arm_task_priority_control_alg.h.

void KintonArmTaskPriorityControlAlgorithm::task_priority_ctrl	(	const MatrixXd &	cam_vel,
		const bool &	arm_unina,
		const bool &	arm_catec,
		const bool &	enable_sec_task,
		const Matrix4d &	Tcam_in_tip,
		const Matrix4d &	Ttag_in_cam,
		const MatrixXd &	lambda_robot,
		const MatrixXd &	gain_sec_task,
		const MatrixXd &	q_rollpitch,
		const MatrixXd &	v_rollpitch,
		const Chain &	kdl_chain,
		const vector< arm_joint >	joint_info,
		const double &	dt,
		MatrixXd &	q,
		MatrixXd &	vel_quad
	)