#include <FingerController.h>

Public Types
typedef Eigen::Matrix< double, NHall, 1 >	HallVectorType
typedef FingerKinematics< N > ::JacobianType	JacobianType
typedef FingerKinematics< N > ::JointVectorType	JointVectorType
typedef boost::array < MultiLoopController, N+1 >	MultiLoopVectorType
typedef FingerKinematics< N > ::ReferenceMatrixType	ReferenceMatrixType
typedef FingerKinematics< N > ::SliderVectorType	SliderVectorType
Public Member Functions
	FingerController ()
void	getCalibratedTensions (const SliderVectorType &tensionA, const SliderVectorType &tensionB, double timestep, SliderVectorType &tensionsCalibrated)
void	getDesiredSliders (const JointVectorType &desiredJoints, const SliderVectorType &actualSliders, SliderVectorType &desiredSliders)
	get limited desiredSliders
void	getDesiredSlidersStiffness (const JointVectorType &desiredPos, const JointVectorType &actualJoints, const SliderVectorType &actualSliders, const SliderVectorType &actualTensions, const SliderVectorType &sliderVelocities, const bool useCartesian, const bool isLeft, SliderVectorType &desiredSliders)
	get desiredSliders for joint stiffness control
void	getHallAngles (const HallVectorType &halls_in, HallVectorType &jointAngles)
void	getJointsFromSliders (const SliderVectorType &sliderPositions, JointVectorType &jointAngles)
void	getMotComs (const SliderVectorType &desiredSliders, const SliderVectorType &kTendon, const SliderVectorType &actualSliders, const SliderVectorType &actualTensions, const SliderVectorType &sliderVelocities, SliderVectorType &sliderMotComs, SliderVectorType &desiredSliderVels, const SliderVectorType &fingerBoostMotCom)
	update calculate motcoms to achieve desiredSliders
void	getSlidersFromEncoders (const SliderVectorType &encoderPositions, SliderVectorType &sliderPositions)
void	getSlidersFromJoints (const JointVectorType &jointAngles, SliderVectorType &sliderPositions)
void	getXYPos (const JointVectorType &jointAngles, const bool isLeft, JointVectorType &xy, JointVectorType &desiredTorques)
void	reset ()
	reset integrators
void	setBusVoltage (double busVoltage_in)
void	setHallAngleParameters (double scale, const HallVectorType &coeffs0, const HallVectorType &coeffs1, const HallVectorType &coeffs2, const HallVectorType &coeffs3)
void	setMillimetersPerCount (double mmPerCount_in)
void	setMultiLoopController (const MultiLoopController &mlc_in, unsigned int controllerIndex)
void	setReferenceMatrix (const ReferenceMatrixType &refMatrix_in)
void	setStiffnessGains (const JointVectorType &K_in, const double kd_in, const double fmin_in, const double fmax_in, const JointVectorType &jointKp_in, const double tensionKp_in, const double tFreq, const double deadband_in)
void	setTensionParameters (const SliderVectorType &aGains, const SliderVectorType &bGains, const SliderVectorType &offsets, const SliderVectorType &calibratedStrain_in)
void	setTubeTareParameters (const SliderVectorType &sliderOffsets_in, const SliderVectorType &sliderTarePos_in, const SliderVectorType &tensionOffsets_in)
	setTubeTareParameters
virtual	~FingerController ()
Private Attributes
double	busVoltage
SliderVectorType	calibratedStrain
double	deadbandSize
JointVectorType	desTorques
double	fmax
double	fmin
HallVectorType	hallCoeffs0
HallVectorType	hallCoeffs1
HallVectorType	hallCoeffs2
HallVectorType	hallCoeffs3
double	hallScale
JointVectorType	jointKp
JointVectorType	K
double	kd
FingerKinematics< N >	kinematics
double	mmPerCount
MultiLoopVectorType	multiLoopControllers
SliderVectorType	sliderOffsets
SliderVectorType	sliderTarePos
SliderVectorType	smoothingFactors
double	smoothingHz
SliderVectorType	tensionAGains
SliderVectorType	tensionBGains
double	tensionFilterCutoffFreq
double	tensionKp
SliderVectorType	tensionOffsets
SliderVectorType	tensionSensorCalOffsets
SliderVectorType	tensionsPrev

Detailed Description

template<unsigned int N, unsigned int NHall = N>
class FingerController< N, NHall >

Definition at line 18 of file FingerController.h.

Member Typedef Documentation

template<unsigned int N, unsigned int NHall = N>

typedef Eigen::Matrix<double, NHall, 1> FingerController< N, NHall >::HallVectorType

Definition at line 25 of file FingerController.h.

template<unsigned int N, unsigned int NHall = N>

typedef FingerKinematics<N>::JacobianType FingerController< N, NHall >::JacobianType

Definition at line 24 of file FingerController.h.

template<unsigned int N, unsigned int NHall = N>

typedef FingerKinematics<N>::JointVectorType FingerController< N, NHall >::JointVectorType

Definition at line 22 of file FingerController.h.

template<unsigned int N, unsigned int NHall = N>

typedef boost::array< MultiLoopController, N + 1 > FingerController< N, NHall >::MultiLoopVectorType

Definition at line 27 of file FingerController.h.

template<unsigned int N, unsigned int NHall = N>

typedef FingerKinematics<N>::ReferenceMatrixType FingerController< N, NHall >::ReferenceMatrixType

Definition at line 21 of file FingerController.h.

template<unsigned int N, unsigned int NHall = N>

typedef FingerKinematics<N>::SliderVectorType FingerController< N, NHall >::SliderVectorType

Definition at line 23 of file FingerController.h.

Constructor & Destructor Documentation

template<unsigned int N, unsigned int NHall>

FingerController< N, NHall >::FingerController ( )

Definition at line 122 of file FingerController.h.

template<unsigned int N, unsigned int NHall = N>

virtual FingerController< N, NHall >::~FingerController ( ) [inline, virtual]

Definition at line 30 of file FingerController.h.

Member Function Documentation

template<unsigned int N, unsigned int NHall>

void FingerController< N, NHall >::getCalibratedTensions	(	const SliderVectorType &	tensionA,
		const SliderVectorType &	tensionB,
		double	timestep,
		SliderVectorType &	tensionsCalibrated
	)

Definition at line 421 of file FingerController.h.

template<unsigned int N, unsigned int NHall>

void FingerController< N, NHall >::getDesiredSliders	(	const JointVectorType &	desiredJoints,
		const SliderVectorType &	actualSliders,
		SliderVectorType &	desiredSliders
	)

get limited desiredSliders

"2.54" value adopted from ControlShell. Hardcoded until someone rethinks this math.

Definition at line 238 of file FingerController.h.

template<unsigned int N, unsigned int NHall>

void FingerController< N, NHall >::getDesiredSlidersStiffness	(	const JointVectorType &	desiredPos,
		const JointVectorType &	actualJoints,
		const SliderVectorType &	actualSliders,
		const SliderVectorType &	actualTensions,
		const SliderVectorType &	sliderVelocities,
		const bool	useCartesian,
		const bool	isLeft,
		SliderVectorType &	desiredSliders
	)

get desiredSliders for joint stiffness control

Definition at line 262 of file FingerController.h.

template<unsigned int N, unsigned int NHall>

void FingerController< N, NHall >::getHallAngles	(	const HallVectorType &	halls_in,
		HallVectorType &	jointAngles
	)

Definition at line 400 of file FingerController.h.

template<unsigned int N, unsigned int NHall = N>

void FingerController< N, NHall >::getJointsFromSliders	(	const SliderVectorType &	sliderPositions,
		JointVectorType &	jointAngles
	)		`[inline]`

Definition at line 85 of file FingerController.h.

template<unsigned int N, unsigned int NHall>

void FingerController< N, NHall >::getMotComs	(	const SliderVectorType &	desiredSliders,
		const SliderVectorType &	kTendon,
		const SliderVectorType &	actualSliders,
		const SliderVectorType &	actualTensions,
		const SliderVectorType &	sliderVelocities,
		SliderVectorType &	sliderMotComs,
		SliderVectorType &	desiredSliderVels,
		const SliderVectorType &	fingerBoostMotCom
	)

update calculate motcoms to achieve desiredSliders

Definition at line 370 of file FingerController.h.

template<unsigned int N, unsigned int NHall = N>

void FingerController< N, NHall >::getSlidersFromEncoders	(	const SliderVectorType &	encoderPositions,
		SliderVectorType &	sliderPositions
	)		`[inline]`

Definition at line 80 of file FingerController.h.

template<unsigned int N, unsigned int NHall = N>

void FingerController< N, NHall >::getSlidersFromJoints	(	const JointVectorType &	jointAngles,
		SliderVectorType &	sliderPositions
	)		`[inline]`

Definition at line 75 of file FingerController.h.

template<unsigned int N, unsigned int NHall>

void FingerController< N, NHall >::getXYPos	(	const JointVectorType &	jointAngles,
		const bool	isLeft,
		JointVectorType &	xy,
		JointVectorType &	desiredTorques
	)

Definition at line 445 of file FingerController.h.

template<unsigned int N, unsigned int NHall>

void FingerController< N, NHall >::reset ( )

reset integrators

Definition at line 227 of file FingerController.h.

template<unsigned int N, unsigned int NHall = N>

void FingerController< N, NHall >::setBusVoltage ( double busVoltage_in ) [inline]

Definition at line 69 of file FingerController.h.

template<unsigned int N, unsigned int NHall>

void FingerController< N, NHall >::setHallAngleParameters	(	double	scale,
		const HallVectorType &	coeffs0,
		const HallVectorType &	coeffs1,
		const HallVectorType &	coeffs2,
		const HallVectorType &	coeffs3
	)

Definition at line 152 of file FingerController.h.

template<unsigned int N, unsigned int NHall = N>

void FingerController< N, NHall >::setMillimetersPerCount ( double mmPerCount_in ) [inline]

Definition at line 55 of file FingerController.h.

template<unsigned int N, unsigned int NHall>

void FingerController< N, NHall >::setMultiLoopController	(	const MultiLoopController &	mlc_in,
		unsigned int	controllerIndex
	)

Definition at line 199 of file FingerController.h.

template<unsigned int N, unsigned int NHall = N>

void FingerController< N, NHall >::setReferenceMatrix ( const ReferenceMatrixType & refMatrix_in ) [inline]

Definition at line 32 of file FingerController.h.

template<unsigned int N, unsigned int NHall>

void FingerController< N, NHall >::setStiffnessGains	(	const JointVectorType &	K_in,
		const double	kd_in,
		const double	fmin_in,
		const double	fmax_in,
		const JointVectorType &	jointKp_in,
		const double	tensionKp_in,
		const double	tFreq,
		const double	deadband_in
	)

Definition at line 214 of file FingerController.h.

template<unsigned int N, unsigned int NHall>

void FingerController< N, NHall >::setTensionParameters	(	const SliderVectorType &	aGains,
		const SliderVectorType &	bGains,
		const SliderVectorType &	offsets,
		const SliderVectorType &	calibratedStrain_in
	)

Definition at line 162 of file FingerController.h.

template<unsigned int N, unsigned int NHall>

void FingerController< N, NHall >::setTubeTareParameters	(	const SliderVectorType &	sliderOffsets_in,
		const SliderVectorType &	sliderTarePos_in,
		const SliderVectorType &	tensionOffsets_in
	)

setTubeTareParameters

Parameters:

encoderOffsets_in	encoder value at encoder zero (end of travel)
sliderOffsets_in	encoder value at slider tare position (end of tube tare)
sliderTarePos_in	slider tare position (mm at end of tube tare)
tensionOffsets_in	at tension zero (end of travel)

round sliderTarePos to nearest mmPerCount

Definition at line 171 of file FingerController.h.