orwell::AdmittanceController< dof, Reference > Class Template Reference

base class for an admittance controller derived from TorqueController More...

#include <AdmittanceController.hpp>

Inheritance diagram for orwell::AdmittanceController< dof, Reference >:

Public Member Functions
	AdmittanceController (const sackmesser::Interface::Ptr &interface, const std::string &name)
	loads configuration parameters
RobotState< dof >::Vector	computeCommand ()
	computes the joint torque using forward dynamics
Public Member Functions inherited from orwell::ReferenceController< Reference, DerivedController >
	ReferenceController (const sackmesser::Interface::Ptr &interface, const std::string &name)
void	setReference (const Reference &reference)
	set Reference
const Reference &	getReference () const
	provide access to the Reference to derived classes

Protected Member Functions
virtual RobotState< dof >::Vector	computeDesiredJointAcceleration ()=0
	admittance control law

Additional Inherited Members
Public Types inherited from orwell::ReferenceController< Reference, DerivedController >
using	Ptr = std::shared_ptr<ReferenceController>
	typedef

Detailed Description

template<int dof, class Reference>
class orwell::AdmittanceController< dof, Reference >

base class for an admittance controller derived from TorqueController

Template Parameters

dof	number of degrees of freedom of the controlled system
Reference	reference target

Definition at line 35 of file AdmittanceController.hpp.

Constructor & Destructor Documentation

AdmittanceController()

template<int dof, class Reference >

orwell::AdmittanceController< dof, Reference >::AdmittanceController	(	const sackmesser::Interface::Ptr &	interface,
		const std::string &	name )

loads configuration parameters

Parameters

interface	interfaces the configuration server
name	parameter namespace

Definition at line 30 of file AdmittanceController.hxx.

      : TorqueReferenceController<dof, Reference>(interface, name)
    {}

Member Function Documentation

computeCommand()

template<int dof, class Reference >

RobotState< dof >::Vector orwell::AdmittanceController< dof, Reference >::computeCommand

(

)

computes the joint torque using forward dynamics

Returns

joint torque command

Definition at line 38 of file AdmittanceController.hxx.

    {
        const typename RobotState<dof>::Vector &position = this->getRobotState().getPosition();
        const typename RobotState<dof>::Vector &velocity = this->getRobotState().getVelocity();
        typename RobotState<dof>::Vector acceleration = computeDesiredJointAcceleration();
 
        return this->getRobotModel()->computeForwardDynamics(position, velocity, acceleration, 0.0);
    }

computeDesiredJointAcceleration()

template<int dof, class Reference >

virtual RobotState< dof >::Vector orwell::AdmittanceController< dof, Reference >::computeDesiredJointAcceleration ( )

protectedpure virtual

admittance control law

Returns

desired joint acceleration

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

• AdmittanceController.hpp
• AdmittanceController.hxx