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

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

#include <CartesianImpedanceController.hpp>

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

Public Member Functions
	CartesianImpedanceController (const sackmesser::Interface::Ptr &interface, const std::string &name)
	loads configuration parameters
RobotState< dof >::Vector	computeCommand ()
	implements the impedance control law
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
void	setPositionError (const Eigen::Vector< double, 6 > &position_error)
	set the value of position_error_
void	setVelocityError (const Eigen::Vector< double, 6 > &velocity_error)
	set the value of velocity_error_
void	setAccelerationError (const Eigen::Vector< double, 6 > &acceleration_error)
	set the value of acceleration_error_
Eigen::Vector< double, 6 >	limitWrench (const Eigen::Vector< double, 6 > &wrench)
	limit the end-effector wrench to the given wrench_limit_
virtual void	computeStateError ()=0
	computes the state error for the impedance 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::CartesianImpedanceController< dof, Reference >

base class for an impedance 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 CartesianImpedanceController.hpp.

Constructor & Destructor Documentation

CartesianImpedanceController()

template<int dof, class Reference >

orwell::CartesianImpedanceController< dof, Reference >::CartesianImpedanceController	(	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 CartesianImpedanceController.hxx.

      : TorqueReferenceController<dof, Reference>(interface, name)
    {
        config_ = interface->getConfigurations()->load<Configuration>(name);
 
        position_error_ = Eigen::Vector<double, 6>::Zero();
        velocity_error_ = Eigen::Vector<double, 6>::Zero();
        acceleration_error_ = Eigen::Vector<double, 6>::Zero();
    }

Member Function Documentation

computeCommand()

template<int dof, class Reference >

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

(

)

implements the impedance control law

derived classes should call setPositionError, setVelocityError and setAccelerationError during computeStateError

Returns

joint torque control command

Definition at line 66 of file CartesianImpedanceController.hxx.

    {
        computeStateError();
 
        return this->getRobotModel()->getJacobian().transpose() * limitWrench(this->getDesiredWrench());
    }

References orwell::CartesianImpedanceController< dof, Reference >::computeStateError(), and orwell::CartesianImpedanceController< dof, Reference >::limitWrench().

computeStateError()

template<int dof, class Reference >

virtual void orwell::CartesianImpedanceController< dof, Reference >::computeStateError ( )

protectedpure virtual

computes the state error for the impedance control law

derived classes should call setPositionError, setVelocityError, setAccelerationError

Referenced by orwell::CartesianImpedanceController< dof, Reference >::computeCommand().

limitWrench()

template<int dof, class Reference >

Eigen::Vector< double, 6 > orwell::CartesianImpedanceController< dof, Reference >::limitWrench ( const Eigen::Vector< double, 6 > & wrench )

protected

limit the end-effector wrench to the given wrench_limit_

Parameters

wrench

wrench computed by getDesiredWrench

Returns

wrench within the limits

Definition at line 100 of file CartesianImpedanceController.hxx.

    {
        return wrench.array().min(config_.wrench_limits_.array()).max(-config_.wrench_limits_.array());
    }

Referenced by orwell::CartesianImpedanceController< dof, Reference >::computeCommand().

setAccelerationError()

template<int dof, class Reference >

void orwell::CartesianImpedanceController< dof, Reference >::setAccelerationError ( const Eigen::Vector< double, 6 > & acceleration_error )

protected

set the value of acceleration_error_

derived classes should call this function during computeStateError

Parameters

acceleration_error

the acceleration error for the impedance control law

Definition at line 94 of file CartesianImpedanceController.hxx.

    {
        acceleration_error_ = acceleration_error;
    }

setPositionError()

template<int dof, class Reference >

void orwell::CartesianImpedanceController< dof, Reference >::setPositionError ( const Eigen::Vector< double, 6 > & position_error )

protected

set the value of position_error_

derived classes should call this function during computeStateError

Parameters

position_error

the position error for the impedance control law

Definition at line 82 of file CartesianImpedanceController.hxx.

    {
        position_error_ = position_error;
    }

setVelocityError()

template<int dof, class Reference >

void orwell::CartesianImpedanceController< dof, Reference >::setVelocityError ( const Eigen::Vector< double, 6 > & velocity_error )

protected

set the value of velocity_error_

derived classes should call this function during computeStateError

Parameters

velocity_error

the velocity error for the impedance control law

Definition at line 88 of file CartesianImpedanceController.hxx.

    {
        velocity_error_ = velocity_error;
    }

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

• CartesianImpedanceController.hpp
• CartesianImpedanceController.hxx