tesseract_scene_graph::JointSafety Class Reference

Parameters for Joint Safety Controllers. More...

#include <joint.h>

Public Types
using	ConstPtr = std::shared_ptr< const JointSafety >
using	Ptr = std::shared_ptr< JointSafety >

Public Member Functions
void	clear ()
	JointSafety ()=default
	JointSafety (const JointSafety &)=default
	JointSafety (double soft_upper_limit, double soft_lower_limit, double k_position, double k_velocity)
	JointSafety (JointSafety &&)=default
bool	operator!= (const JointSafety &rhs) const
JointSafety &	operator= (const JointSafety &)=default
JointSafety &	operator= (JointSafety &&)=default
bool	operator== (const JointSafety &rhs) const
	~JointSafety ()=default

Public Attributes
double	k_position { 0 }
double	k_velocity { 0 }
double	soft_lower_limit { 0 }
double	soft_upper_limit { 0 }

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Friends
class	boost::serialization::access
struct	tesseract_common::Serialization

Detailed Description

Parameters for Joint Safety Controllers.

Definition at line 129 of file joint.h.

Member Typedef Documentation

ConstPtr

using tesseract_scene_graph::JointSafety::ConstPtr = std::shared_ptr<const JointSafety>

Definition at line 133 of file joint.h.

Ptr

using tesseract_scene_graph::JointSafety::Ptr = std::shared_ptr<JointSafety>

Definition at line 132 of file joint.h.

Constructor & Destructor Documentation

JointSafety() [1/4]

tesseract_scene_graph::JointSafety::JointSafety ( )

default

JointSafety() [2/4]

tesseract_scene_graph::JointSafety::JointSafety	(	double	soft_upper_limit,
		double	soft_lower_limit,
		double	k_position,
		double	k_velocity
	)

Definition at line 129 of file joint.cpp.

~JointSafety()

tesseract_scene_graph::JointSafety::~JointSafety ( )

default

JointSafety() [3/4]

tesseract_scene_graph::JointSafety::JointSafety ( const JointSafety &  )

default

JointSafety() [4/4]

tesseract_scene_graph::JointSafety::JointSafety ( JointSafety &&  )

default

Member Function Documentation

clear()

void tesseract_scene_graph::JointSafety::clear

(

)

Definition at line 137 of file joint.cpp.

operator!=()

bool tesseract_scene_graph::JointSafety::operator!=

(

const JointSafety &

rhs

)

const

Definition at line 155 of file joint.cpp.

operator=() [1/2]

JointSafety& tesseract_scene_graph::JointSafety::operator= ( const JointSafety &  )

default

operator=() [2/2]

JointSafety& tesseract_scene_graph::JointSafety::operator= ( JointSafety &&  )

default

operator==()

bool tesseract_scene_graph::JointSafety::operator==

(

const JointSafety &

rhs

)

const

Definition at line 145 of file joint.cpp.

serialize()

template<class Archive >

void tesseract_scene_graph::JointSafety::serialize ( Archive &  ar, const unsigned int  version  )

private

Definition at line 158 of file joint.cpp.

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 187 of file joint.h.

tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 188 of file joint.h.

Member Data Documentation

k_position

double tesseract_scene_graph::JointSafety::k_position { 0 }

Definition at line 178 of file joint.h.

k_velocity

double tesseract_scene_graph::JointSafety::k_velocity { 0 }

Definition at line 179 of file joint.h.

soft_lower_limit

double tesseract_scene_graph::JointSafety::soft_lower_limit { 0 }

Definition at line 177 of file joint.h.

soft_upper_limit

double tesseract_scene_graph::JointSafety::soft_upper_limit { 0 }

IMPORTANT: The safety controller support is very much PR2 specific, not intended for generic usage.

Basic safety controller operation is as follows

current safety controllers will take effect on joints outside the position range below:

position range: [JointSafety::soft_lower_limit + JointLimits::velocity / JointSafety::k_position, JointSafety::soft_uppper_limit - JointLimits::velocity / JointSafety::k_position]

if (joint_position is outside of the position range above) velocity_limit_min = -JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_lower_limit) velocity_limit_max = JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit) else velocity_limit_min = -JointLimits::velocity velocity_limit_max = JointLimits::velocity

velocity range: [velocity_limit_min + JointLimits::effort / JointSafety::k_velocity, velocity_limit_max - JointLimits::effort / JointSafety::k_velocity]

if (joint_velocity is outside of the velocity range above) effort_limit_min = -JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_min) effort_limit_max = JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_max) else effort_limit_min = -JointLimits::effort effort_limit_max = JointLimits::effort

Final effort command sent to the joint is saturated by [effort_limit_min,effort_limit_max]

Please see wiki for more details: http://www.ros.org/wiki/pr2_controller_manager/safety_limits

Definition at line 176 of file joint.h.

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

• joint.h
• joint.cpp