Classes | Public Member Functions | Protected Attributes | Private Member Functions | Private Attributes
ImpedanceController Class Reference

#include <ImpedanceController.h>

Inheritance diagram for ImpedanceController:
Inheritance graph
[legend]

List of all members.

Classes

struct  ee_trans
struct  ImpedanceParam

Public Member Functions

bool getImpedanceControllerParam (const std::string &i_name_, OpenHRP::ImpedanceControllerService::impedanceParam &i_param_)
 ImpedanceController (RTC::Manager *manager)
virtual RTC::ReturnCode_t onActivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onDeactivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onFinalize ()
virtual RTC::ReturnCode_t onInitialize ()
bool setImpedanceControllerParam (const std::string &i_name_, OpenHRP::ImpedanceControllerService::impedanceParam i_param_)
bool startImpedanceController (const std::string &i_name_)
bool startImpedanceControllerNoWait (const std::string &i_name_)
bool stopImpedanceController (const std::string &i_name_)
bool stopImpedanceControllerNoWait (const std::string &i_name_)
void waitImpedanceControllerTransition (std::string i_name_)
virtual ~ImpedanceController ()

Protected Attributes

TimedPoint3D m_basePos
InPort< TimedPoint3D > m_basePosIn
TimedOrientation3D m_baseRpy
InPort< TimedOrientation3D > m_baseRpyIn
std::vector< TimedDoubleSeq > m_force
std::vector< InPort
< TimedDoubleSeq > * > 
m_forceIn
RTC::CorbaPort m_ImpedanceControllerServicePort
TimedDoubleSeq m_q
TimedDoubleSeq m_qCurrent
InPort< TimedDoubleSeq > m_qCurrentIn
OutPort< TimedDoubleSeq > m_qOut
TimedDoubleSeq m_qRef
InPort< TimedDoubleSeq > m_qRefIn
std::vector< TimedDoubleSeq > m_ref_force
std::vector< InPort
< TimedDoubleSeq > * > 
m_ref_forceIn
TimedOrientation3D m_rpy
InPort< TimedOrientation3D > m_rpyIn
ImpedanceControllerService_impl m_service0

Private Member Functions

void calcForceMoment ()
void calcImpedanceControl ()
void copyImpedanceParam (OpenHRP::ImpedanceControllerService::impedanceParam &i_param_, const ImpedanceParam &param)
void getTargetParameters ()
void updateRootLinkPosRot (TimedOrientation3D tmprpy)

Private Attributes

std::map< std::string,
hrp::Vector3
abs_forces
std::map< std::string,
hrp::Vector3
abs_moments
std::map< std::string,
hrp::Vector3
abs_ref_forces
std::map< std::string,
hrp::Vector3
abs_ref_moments
int dummy
std::map< std::string, ee_transee_map
int loop
unsigned int m_debugLevel
double m_dt
std::map< std::string,
ImpedanceParam
m_impedance_param
coil::Mutex m_mutex
hrp::BodyPtr m_robot
std::map< std::string,
hrp::VirtualForceSensorParam
m_vfs
hrp::dvector qrefv
bool use_sh_base_pos_rpy

Detailed Description

Definition at line 39 of file ImpedanceController.h.


Constructor & Destructor Documentation

Definition at line 44 of file ImpedanceController.cpp.

Definition at line 63 of file ImpedanceController.cpp.


Member Function Documentation

Definition at line 516 of file ImpedanceController.cpp.

Definition at line 571 of file ImpedanceController.cpp.

void ImpedanceController::copyImpedanceParam ( OpenHRP::ImpedanceControllerService::impedanceParam &  i_param_,
const ImpedanceParam param 
) [private]

Definition at line 749 of file ImpedanceController.cpp.

bool ImpedanceController::getImpedanceControllerParam ( const std::string &  i_name_,
OpenHRP::ImpedanceControllerService::impedanceParam &  i_param_ 
)

Definition at line 787 of file ImpedanceController.cpp.

Definition at line 454 of file ImpedanceController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 291 of file ImpedanceController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 298 of file ImpedanceController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 311 of file ImpedanceController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 272 of file ImpedanceController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 68 of file ImpedanceController.cpp.

bool ImpedanceController::setImpedanceControllerParam ( const std::string &  i_name_,
OpenHRP::ImpedanceControllerService::impedanceParam  i_param_ 
)

Definition at line 696 of file ImpedanceController.cpp.

bool ImpedanceController::startImpedanceController ( const std::string &  i_name_)

Definition at line 660 of file ImpedanceController.cpp.

Definition at line 640 of file ImpedanceController.cpp.

bool ImpedanceController::stopImpedanceController ( const std::string &  i_name_)

Definition at line 689 of file ImpedanceController.cpp.

Definition at line 667 of file ImpedanceController.cpp.

void ImpedanceController::updateRootLinkPosRot ( TimedOrientation3D  tmprpy) [private]

Definition at line 777 of file ImpedanceController.cpp.

Definition at line 801 of file ImpedanceController.cpp.


Member Data Documentation

std::map<std::string, hrp::Vector3> ImpedanceController::abs_forces [private]

Definition at line 183 of file ImpedanceController.h.

std::map<std::string, hrp::Vector3> ImpedanceController::abs_moments [private]

Definition at line 183 of file ImpedanceController.h.

std::map<std::string, hrp::Vector3> ImpedanceController::abs_ref_forces [private]

Definition at line 183 of file ImpedanceController.h.

std::map<std::string, hrp::Vector3> ImpedanceController::abs_ref_moments [private]

Definition at line 183 of file ImpedanceController.h.

Definition at line 189 of file ImpedanceController.h.

std::map<std::string, ee_trans> ImpedanceController::ee_map [private]

Definition at line 181 of file ImpedanceController.h.

Definition at line 190 of file ImpedanceController.h.

TimedPoint3D ImpedanceController::m_basePos [protected]

Definition at line 114 of file ImpedanceController.h.

InPort<TimedPoint3D> ImpedanceController::m_basePosIn [protected]

Definition at line 115 of file ImpedanceController.h.

TimedOrientation3D ImpedanceController::m_baseRpy [protected]

Definition at line 116 of file ImpedanceController.h.

InPort<TimedOrientation3D> ImpedanceController::m_baseRpyIn [protected]

Definition at line 117 of file ImpedanceController.h.

Definition at line 188 of file ImpedanceController.h.

double ImpedanceController::m_dt [private]

Definition at line 184 of file ImpedanceController.h.

std::vector<TimedDoubleSeq> ImpedanceController::m_force [protected]

Definition at line 118 of file ImpedanceController.h.

std::vector<InPort<TimedDoubleSeq> *> ImpedanceController::m_forceIn [protected]

Definition at line 119 of file ImpedanceController.h.

std::map<std::string, ImpedanceParam> ImpedanceController::m_impedance_param [private]

Definition at line 180 of file ImpedanceController.h.

Definition at line 136 of file ImpedanceController.h.

Definition at line 186 of file ImpedanceController.h.

TimedDoubleSeq ImpedanceController::m_q [protected]

Definition at line 129 of file ImpedanceController.h.

TimedDoubleSeq ImpedanceController::m_qCurrent [protected]

Definition at line 110 of file ImpedanceController.h.

InPort<TimedDoubleSeq> ImpedanceController::m_qCurrentIn [protected]

Definition at line 111 of file ImpedanceController.h.

OutPort<TimedDoubleSeq> ImpedanceController::m_qOut [protected]

Definition at line 130 of file ImpedanceController.h.

TimedDoubleSeq ImpedanceController::m_qRef [protected]

Definition at line 112 of file ImpedanceController.h.

InPort<TimedDoubleSeq> ImpedanceController::m_qRefIn [protected]

Definition at line 113 of file ImpedanceController.h.

std::vector<TimedDoubleSeq> ImpedanceController::m_ref_force [protected]

Definition at line 120 of file ImpedanceController.h.

std::vector<InPort<TimedDoubleSeq> *> ImpedanceController::m_ref_forceIn [protected]

Definition at line 121 of file ImpedanceController.h.

Definition at line 185 of file ImpedanceController.h.

TimedOrientation3D ImpedanceController::m_rpy [protected]

Definition at line 122 of file ImpedanceController.h.

InPort<TimedOrientation3D> ImpedanceController::m_rpyIn [protected]

Definition at line 123 of file ImpedanceController.h.

Definition at line 142 of file ImpedanceController.h.

std::map<std::string, hrp::VirtualForceSensorParam> ImpedanceController::m_vfs [private]

Definition at line 182 of file ImpedanceController.h.

Definition at line 187 of file ImpedanceController.h.

Definition at line 191 of file ImpedanceController.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:57